diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/running_log.log b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/running_log.log new file mode 100644 index 0000000000000000000000000000000000000000..7f4b74ebc7cf19ee81b6e37acd36c8a6209dc866 --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/running_log.log @@ -0,0 +1,455 @@ +05/26 12:05:16 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 677] +05/26 12:05:16 INFO: Starting house-by-house rollout of 120 houses with 2 episodes each (240 total episodes) using 1 worker processes [pipeline.py: 1279] +05/26 12:05:16 INFO: Evaluation configuration: [pipeline.py: 1286] +05/26 12:05:16 INFO: {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['droid_shoulder_light_randomization', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 'wan_molmobot_franka', + 'obs_camera_name': 'droid_shoulder_light_randomization', + 'obs_image_key': 'rgb_head', + 'obs_state_key': 'robot_state', + 'obs_wrist_camera_name': 'wrist_camera_zed_mini', + 'obs_wrist_image_key': 'rgb_wrist', + 'policy_cls': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [141, + 148, + 253, + 359, + 475, + 509, + 579, + 625, + 694, + 734, + 792, + 879, + 942, + 1058, + 1180, + 1260, + 1332, + 1399, + 1536, + 1640, + 1732, + 1781, + 1912, + 2024, + 2090, + 2200, + 2306, + 2433, + 2482, + 2597, + 2683, + 2824, + 2891, + 3007, + 3120, + 3216, + 3272, + 3331, + 3400, + 3483, + 3537, + 3610, + 3656, + 3748, + 3864, + 3956, + 4069, + 4187, + 4253, + 4293, + 4329, + 4412, + 4481, + 4502, + 4631, + 4684, + 4728, + 4811, + 4883, + 4981, + 5101, + 5180, + 5219, + 5408, + 5482, + 5568, + 5628, + 5699, + 5830, + 5905, + 5977, + 6079, + 6148, + 6227, + 6282, + 6328, + 6400, + 6514, + 6548, + 6603, + 6722, + 6792, + 6917, + 6987, + 7042, + 7101, + 7185, + 7304, + 7350, + 7420, + 7475, + 7576, + 7676, + 7777, + 7868, + 7980, + 8081, + 8141, + 8232, + 8312, + 8389, + 8460, + 8542, + 8648, + 8725, + 8833, + 8884, + 8972, + 9024, + 9092, + 9163, + 9187, + 9252, + 9320, + 9423, + 9502, + 9588, + 9651, + 9727, + 9887], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} [pipeline.py: 1287] +05/26 12:05:16 INFO: [Worker 0] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler [pipeline.py: 439] +05/26 12:05:16 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 12:05:16 INFO: [Worker 0] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler [pipeline.py: 445] +05/26 12:05:16 INFO: [Worker 0] Worker 0 starting house 141 (index 0/120) [pipeline.py: 473] +05/26 12:05:16 INFO: [Worker 0] Loaded 2 episodes for house 141 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/26 12:05:16 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 12:05:33 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/26 12:05:37 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_141_ceiling.xml [task_sampler.py: 797] +05/26 12:05:37 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=141, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 12:05:37 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 12:05:37 INFO: [Worker 0] randomize_scene: Setting poses for 74 objects [json_eval_task_sampler.py: 686] +05/26 12:05:37 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 12:05:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 12:05:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 12:05:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 12:05:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 12:05:38 INFO: [Worker 0] Sampled task 'Pick up the red floral painted russian doll and place it next to the brown textured log' [task_sampler.py: 1136] +05/26 12:05:38 INFO: [Worker 0] Worker 0 house 141 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/26 12:05:38 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 12:05:38 WARNING: [Worker 0] Could not find object objasneaker_662928027f174d278f63c4dc9a995d23_1_0_5 in scene [object_manager.py: 1238] +05/26 12:05:38 WARNING: [Worker 0] Could not find object objamosaicfragment_780cc0fe43954935b548b72e5c9e129d_1_0_5 in scene [object_manager.py: 1238] +05/26 12:13:11 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 13:24:21 INFO: [Worker 0] Worker 0 house 141 episode 0 object objamatryoshkadoll_63a5ccc553044221a68c117a4986d7f3_1_0_8 completed with success=False [pipeline.py: 1114] +05/26 13:24:30 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 13:24:46 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_141_ceiling.xml [task_sampler.py: 797] +05/26 13:24:46 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=141, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 13:24:46 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 13:24:46 INFO: [Worker 0] randomize_scene: Setting poses for 74 objects [json_eval_task_sampler.py: 686] +05/26 13:24:46 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 13:24:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 13:24:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 13:24:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 13:24:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 13:24:46 INFO: [Worker 0] Sampled task 'Pick up the vintage black vhs tape and place it next to the bulbous shiny gold vase' [task_sampler.py: 1136] +05/26 13:24:46 INFO: [Worker 0] Worker 0 house 141 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/26 13:24:46 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 13:24:46 WARNING: [Worker 0] Could not find object objasneaker_662928027f174d278f63c4dc9a995d23_1_0_5 in scene [object_manager.py: 1238] +05/26 13:24:46 WARNING: [Worker 0] Could not find object objamosaicfragment_780cc0fe43954935b548b72e5c9e129d_1_0_5 in scene [object_manager.py: 1238] +05/26 13:31:13 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 14:47:40 INFO: [Worker 0] Worker 0 house 141 episode 1 object objavhscassettetape_b77c631e3794478d8cc5e603cac65e0e_1_0_4 completed with success=False [pipeline.py: 1114] +05/26 14:47:50 INFO: [Worker 0] Batching and saving trajectory data for house_141: 2 episodes [pipeline.py: 233] +05/26 14:47:50 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 14:47:55 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 14:47:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 14:48:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 14:48:00 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_141 [save_utils.py: 703] +05/26 14:48:00 INFO: [Worker 0] Successfully saved trajectory data for house_141 in 10.23s (batch: 9.63s, save: 0.60s) [pipeline.py: 280] +05/26 14:48:01 WARNING: [Worker 0] No trajectory data to save for house_141 [pipeline.py: 229] +05/26 14:48:01 INFO: [Worker 0] Worker 0 completed house 141: 0/2 successful episodes [pipeline.py: 1243] +05/26 14:48:01 INFO: [Worker 0] Worker 0 starting house 148 (index 1/120) [pipeline.py: 473] +05/26 14:48:01 INFO: [Worker 0] Loaded 1 episodes for house 148 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/26 14:48:01 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 14:48:19 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_148_ceiling.xml [task_sampler.py: 797] +05/26 14:48:19 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=148, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 14:48:19 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 14:48:19 INFO: [Worker 0] randomize_scene: Setting poses for 101 objects [json_eval_task_sampler.py: 686] +05/26 14:48:19 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 14:48:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 14:48:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 14:48:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 14:48:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 14:48:20 INFO: [Worker 0] Sampled task 'Pick up the coffeepot and place it next to the red biplane' [task_sampler.py: 1136] +05/26 14:48:20 INFO: [Worker 0] Worker 0 house 148 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 14:48:20 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 14:53:38 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 16:39:14 INFO: [Worker 0] Worker 0 house 148 episode 0 object objafrenchpress_30255ea5204d4a9397e0ab2601c4295a_1_0_7 completed with success=False [pipeline.py: 1114] +05/26 16:39:23 INFO: [Worker 0] Batching and saving trajectory data for house_148: 1 episodes [pipeline.py: 233] +05/26 16:39:23 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 16:39:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 16:39:31 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_148 [save_utils.py: 703] +05/26 16:39:31 INFO: [Worker 0] Successfully saved trajectory data for house_148 in 7.86s (batch: 7.49s, save: 0.37s) [pipeline.py: 280] +05/26 16:39:33 WARNING: [Worker 0] No trajectory data to save for house_148 [pipeline.py: 229] +05/26 16:39:33 INFO: [Worker 0] Worker 0 completed house 148: 0/1 successful episodes [pipeline.py: 1243] +05/26 16:39:33 INFO: [Worker 0] Worker 0 starting house 253 (index 2/120) [pipeline.py: 473] +05/26 16:39:33 INFO: [Worker 0] Loaded 1 episodes for house 253 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/26 16:39:33 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 16:39:52 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_253_ceiling.xml [task_sampler.py: 797] +05/26 16:39:52 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=253, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 16:39:52 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 16:39:52 INFO: [Worker 0] randomize_scene: Setting poses for 82 objects [json_eval_task_sampler.py: 686] +05/26 16:39:52 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 16:39:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 16:39:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 16:39:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 16:39:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 16:39:52 INFO: [Worker 0] Sampled task 'Pick up the sleek modern handset and place it next to the smooth green rectangular pillow' [task_sampler.py: 1136] +05/26 16:39:52 INFO: [Worker 0] Worker 0 house 253 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 16:39:53 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 16:39:53 WARNING: [Worker 0] Could not find object objanoveltypickaxe_ec8788211970412b95d9c478b1c74e25_1_0_8 in scene [object_manager.py: 1238] +05/26 16:39:53 WARNING: [Worker 0] Could not find object vase_d568e4c5c2948c69c05d527517276b06_2_0_8 in scene [object_manager.py: 1238] +05/26 17:59:07 INFO: [Worker 0] Worker 0 house 253 episode 0 object objatelephonehandset_0ddfdf35baa6475d9ba001a570eaeebd_1_0_3 completed with success=False [pipeline.py: 1114] +05/26 17:59:16 INFO: [Worker 0] Batching and saving trajectory data for house_253: 1 episodes [pipeline.py: 233] +05/26 17:59:16 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 17:59:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 17:59:21 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_253 [save_utils.py: 703] +05/26 17:59:21 INFO: [Worker 0] Successfully saved trajectory data for house_253 in 5.55s (batch: 5.19s, save: 0.36s) [pipeline.py: 280] +05/26 17:59:23 WARNING: [Worker 0] No trajectory data to save for house_253 [pipeline.py: 229] +05/26 17:59:23 INFO: [Worker 0] Worker 0 completed house 253: 0/1 successful episodes [pipeline.py: 1243] +05/26 17:59:23 INFO: [Worker 0] Worker 0 starting house 359 (index 3/120) [pipeline.py: 473] +05/26 17:59:23 INFO: [Worker 0] Loaded 1 episodes for house 359 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/26 17:59:23 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 17:59:42 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_359_ceiling.xml [task_sampler.py: 797] +05/26 17:59:42 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=359, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 17:59:42 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 17:59:42 INFO: [Worker 0] randomize_scene: Setting poses for 46 objects [json_eval_task_sampler.py: 686] +05/26 17:59:43 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 17:59:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 17:59:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 17:59:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 17:59:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 17:59:43 INFO: [Worker 0] Sampled task 'Pick up the cookingpan and place it next to the mottled green stone disc' [task_sampler.py: 1136] +05/26 17:59:43 INFO: [Worker 0] Worker 0 house 359 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 17:59:43 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 17:59:43 WARNING: [Worker 0] Could not find object objatopographicalmodel_090cdd4fd11e43b8bc9fb55651764a63_1_0_2 in scene [object_manager.py: 1238] +05/26 17:59:43 WARNING: [Worker 0] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_2 in scene [object_manager.py: 1238] +05/26 17:59:43 WARNING: [Worker 0] Could not find object objatrackshoe_de9588f97f644bd689fc6502f262575d_1_0_3 in scene [object_manager.py: 1238] +05/26 17:59:43 WARNING: [Worker 0] Could not find object objatrackshoe_de9588f97f644bd689fc6502f262575d_2_0_3 in scene [object_manager.py: 1238] +05/26 17:59:43 WARNING: [Worker 0] Could not find object objadecorativekey_f4d6bdabd83a4e2bac669388a2e3615a_1_0_3 in scene [object_manager.py: 1238] +05/26 17:59:43 WARNING: [Worker 0] Could not find object objatoiletpaper_903ed803932340b19104cf5232c5dcc4_1_0_3 in scene [object_manager.py: 1238] +05/26 17:59:43 WARNING: [Worker 0] Could not find object objadecorativetoy_4455617907b3478b9d5792dc347a0d84_1_0_4 in scene [object_manager.py: 1238] +05/26 17:59:43 WARNING: [Worker 0] Could not find object laptop_63fbcd680e0db93dfb0454951f2114f3_1_0_4 in scene [object_manager.py: 1238] +05/26 18:05:53 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 19:02:28 INFO: [Worker 0] Worker 0 house 359 episode 0 object cookingpan_cc0221c96aa0758e4ceb9bfc1145fca4_1_0_2 completed with success=False [pipeline.py: 1114] +05/26 19:02:34 INFO: [Worker 0] Batching and saving trajectory data for house_359: 1 episodes [pipeline.py: 233] +05/26 19:02:34 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 19:02:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 19:02:41 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_359 [save_utils.py: 703] +05/26 19:02:41 INFO: [Worker 0] Successfully saved trajectory data for house_359 in 6.61s (batch: 6.37s, save: 0.24s) [pipeline.py: 280] +05/26 19:02:43 WARNING: [Worker 0] No trajectory data to save for house_359 [pipeline.py: 229] +05/26 19:02:43 INFO: [Worker 0] Worker 0 completed house 359: 0/1 successful episodes [pipeline.py: 1243] +05/26 19:02:43 INFO: [Worker 0] Worker 0 starting house 475 (index 4/120) [pipeline.py: 473] +05/26 19:02:43 INFO: [Worker 0] Loaded 1 episodes for house 475 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/26 19:02:43 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 19:02:58 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_475_ceiling.xml [task_sampler.py: 797] +05/26 19:02:58 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=475, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 19:02:58 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 19:02:58 INFO: [Worker 0] randomize_scene: Setting poses for 77 objects [json_eval_task_sampler.py: 686] +05/26 19:02:59 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 19:02:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 19:02:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 19:02:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 19:02:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 19:02:59 INFO: [Worker 0] Sampled task 'Pick up the black rail with holes and arms and place it next to the smooth red apple' [task_sampler.py: 1136] +05/26 19:02:59 INFO: [Worker 0] Worker 0 house 475 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 19:02:59 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 19:08:34 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 19:22:52 ERROR: Uncaught exception: [mp_logging.py: 268] +Traceback (most recent call last): + File "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py", line 1066, in + raise SystemExit(main()) + ^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py", line 938, in main + results = run_evaluation( + ^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py", line 690, in run_evaluation + success_count, total_count = runner.run(preloaded_policy=runner_policy) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1467, in run + house_processing_worker( + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/data_generation/pipeline.py", line 483, in house_processing_worker + runner_class.process_single_house( + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1095, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/data_generation/pipeline.py", line 834, in run_single_rollout + observation, reward, terminal, truncated, infos = task.step(action_cmd) + ^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/tasks/task.py", line 351, in step + observation, reward, terminated, truncated, info = self.get_and_cache_all_step_information() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/tasks/task.py", line 202, in get_and_cache_all_step_information + success = np.full(terminated.shape, fill_value=self.judge_success()) + ^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/tasks/pick_and_place_next_to_task.py", line 57, in judge_success + return self.get_info()[0]["success"] + ^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/tasks/pick_and_place_next_to_task.py", line 137, in get_info + p_sup_p = om.approximate_supporting_geoms(pickup_obj.body_id, b2g) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/env/object_manager.py", line 1664, in approximate_supporting_geoms + bpoly, bz, bt = get_body_box(body) + ^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/env/object_manager.py", line 1648, in get_body_box + c, e = body_aabb(self.model, self.data, bid) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/utils/mj_model_and_data_utils.py", line 87, in body_aabb + return geom_aabb(model, data, geoms) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/utils/mj_model_and_data_utils.py", line 145, in geom_aabb + mesh_aabb_center, mesh_aabb_size = mesh_aabb(model, data, geom_id) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/utils/mj_model_and_data_utils.py", line 117, in mesh_aabb + aabb_max = np.max(vertices, axis=0) + ^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/numpy/core/fromnumeric.py", line 2810, in max + return _wrapreduction(a, np.maximum, 'max', axis, None, out, + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/numpy/core/fromnumeric.py", line 88, in _wrapreduction + return ufunc.reduce(obj, axis, dtype, out, **passkwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +KeyboardInterrupt diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/running_log.log b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/running_log.log new file mode 100644 index 0000000000000000000000000000000000000000..2bfbe67195eb48462556ab575f13ae5c6f365ef9 --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/running_log.log @@ -0,0 +1,3199 @@ +05/26 19:48:16 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 677] +05/26 19:48:16 INFO: Starting house-by-house rollout of 116 houses with 2 episodes each (232 total episodes) using 1 worker processes [pipeline.py: 1279] +05/26 19:48:16 INFO: Evaluation configuration: [pipeline.py: 1286] +05/26 19:48:16 INFO: {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['droid_shoulder_light_randomization', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 'wan_molmobot_franka', + 'obs_camera_name': 'droid_shoulder_light_randomization', + 'obs_image_key': 'rgb_head', + 'obs_state_key': 'robot_state', + 'obs_wrist_camera_name': 'wrist_camera_zed_mini', + 'obs_wrist_image_key': 'rgb_wrist', + 'policy_cls': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [475, + 509, + 579, + 625, + 694, + 734, + 792, + 879, + 942, + 1058, + 1180, + 1260, + 1332, + 1399, + 1536, + 1640, + 1732, + 1781, + 1912, + 2024, + 2090, + 2200, + 2306, + 2433, + 2482, + 2597, + 2683, + 2824, + 2891, + 3007, + 3120, + 3216, + 3272, + 3331, + 3400, + 3483, + 3537, + 3610, + 3656, + 3748, + 3864, + 3956, + 4069, + 4187, + 4253, + 4293, + 4329, + 4412, + 4481, + 4502, + 4631, + 4684, + 4728, + 4811, + 4883, + 4981, + 5101, + 5180, + 5219, + 5408, + 5482, + 5568, + 5628, + 5699, + 5830, + 5905, + 5977, + 6079, + 6148, + 6227, + 6282, + 6328, + 6400, + 6514, + 6548, + 6603, + 6722, + 6792, + 6917, + 6987, + 7042, + 7101, + 7185, + 7304, + 7350, + 7420, + 7475, + 7576, + 7676, + 7777, + 7868, + 7980, + 8081, + 8141, + 8232, + 8312, + 8389, + 8460, + 8542, + 8648, + 8725, + 8833, + 8884, + 8972, + 9024, + 9092, + 9163, + 9187, + 9252, + 9320, + 9423, + 9502, + 9588, + 9651, + 9727, + 9887], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} [pipeline.py: 1287] +05/26 19:48:16 INFO: [Worker 0] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler [pipeline.py: 439] +05/26 19:48:16 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 19:48:16 INFO: [Worker 0] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler [pipeline.py: 445] +05/26 19:48:16 INFO: [Worker 0] Worker 0 starting house 475 (index 0/116) [pipeline.py: 473] +05/26 19:48:16 INFO: [Worker 0] Loaded 1 episodes for house 475 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/26 19:48:16 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 19:48:31 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/26 19:48:35 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_475_ceiling.xml [task_sampler.py: 797] +05/26 19:48:35 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=475, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 19:48:35 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 19:48:35 INFO: [Worker 0] randomize_scene: Setting poses for 77 objects [json_eval_task_sampler.py: 686] +05/26 19:48:35 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 19:48:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 19:48:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 19:48:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 19:48:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 19:48:35 INFO: [Worker 0] Sampled task 'Pick up the black rail with holes and arms and place it next to the smooth red apple' [task_sampler.py: 1136] +05/26 19:48:35 INFO: [Worker 0] Worker 0 house 475 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 19:48:35 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 19:48:40 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 20:04:33 INFO: [Worker 0] Worker 0 house 475 episode 0 object objalinearrail_d10e54ab85304e31b12d98852fa3e165_1_0_2 completed with success=False [pipeline.py: 1114] +05/26 20:04:37 INFO: [Worker 0] Batching and saving trajectory data for house_475: 1 episodes [pipeline.py: 233] +05/26 20:04:37 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 20:04:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 20:04:40 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_475 [save_utils.py: 703] +05/26 20:04:40 INFO: [Worker 0] Successfully saved trajectory data for house_475 in 2.64s (batch: 2.56s, save: 0.09s) [pipeline.py: 280] +05/26 20:04:40 WARNING: [Worker 0] No trajectory data to save for house_475 [pipeline.py: 229] +05/26 20:04:40 INFO: [Worker 0] Worker 0 completed house 475: 0/1 successful episodes [pipeline.py: 1243] +05/26 20:04:40 INFO: [Worker 0] Worker 0 starting house 509 (index 1/116) [pipeline.py: 473] +05/26 20:04:40 INFO: [Worker 0] Loaded 1 episodes for house 509 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/26 20:04:40 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 20:04:42 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_509_ceiling.xml [task_sampler.py: 797] +05/26 20:04:42 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=509, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 20:04:42 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 20:04:42 INFO: [Worker 0] randomize_scene: Setting poses for 22 objects [json_eval_task_sampler.py: 686] +05/26 20:04:42 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 20:04:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 20:04:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 20:04:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 20:04:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 20:04:42 INFO: [Worker 0] Sampled task 'Pick up the decorativebird and place it next to the light-colored paper origami crane with wings' [task_sampler.py: 1136] +05/26 20:04:42 INFO: [Worker 0] Worker 0 house 509 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 20:04:42 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 20:12:37 INFO: [Worker 0] Worker 0 house 509 episode 0 object objadecorativebird_0aac489fda0d4e91845b6623e64db21c_1_0_3 completed with success=False [pipeline.py: 1114] +05/26 20:12:41 INFO: [Worker 0] Batching and saving trajectory data for house_509: 1 episodes [pipeline.py: 233] +05/26 20:12:41 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 20:12:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 20:12:44 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_509 [save_utils.py: 703] +05/26 20:12:44 INFO: [Worker 0] Successfully saved trajectory data for house_509 in 2.67s (batch: 2.58s, save: 0.09s) [pipeline.py: 280] +05/26 20:12:44 WARNING: [Worker 0] No trajectory data to save for house_509 [pipeline.py: 229] +05/26 20:12:44 INFO: [Worker 0] Worker 0 completed house 509: 0/1 successful episodes [pipeline.py: 1243] +05/26 20:12:44 INFO: [Worker 0] Worker 0 starting house 579 (index 2/116) [pipeline.py: 473] +05/26 20:12:44 INFO: [Worker 0] Loaded 1 episodes for house 579 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/26 20:12:44 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 20:13:02 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_579_ceiling.xml [task_sampler.py: 797] +05/26 20:13:02 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=579, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 20:13:02 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 20:13:02 INFO: [Worker 0] randomize_scene: Setting poses for 47 objects [json_eval_task_sampler.py: 686] +05/26 20:13:02 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 20:13:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 20:13:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 20:13:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 20:13:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 20:13:02 INFO: [Worker 0] Sampled task 'Pick up the aerosol and place it next to the blue staple gun' [task_sampler.py: 1136] +05/26 20:13:02 INFO: [Worker 0] Worker 0 house 579 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 20:13:03 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 20:13:04 WARNING: [Worker 0] Could not find object objacleaningsponge_97aee64edf0c4521b82416f3b30c61ce_1_0_5 in scene [object_manager.py: 1238] +05/26 20:27:48 INFO: [Worker 0] Worker 0 house 579 episode 0 object objaspraycan_b31ed30e335c435fb7b7b4a6a046721d_1_0_5 completed with success=False [pipeline.py: 1114] +05/26 20:27:51 INFO: [Worker 0] Batching and saving trajectory data for house_579: 1 episodes [pipeline.py: 233] +05/26 20:27:51 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 20:27:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 20:27:54 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_579 [save_utils.py: 703] +05/26 20:27:54 INFO: [Worker 0] Successfully saved trajectory data for house_579 in 2.46s (batch: 2.37s, save: 0.09s) [pipeline.py: 280] +05/26 20:27:54 WARNING: [Worker 0] No trajectory data to save for house_579 [pipeline.py: 229] +05/26 20:27:54 INFO: [Worker 0] Worker 0 completed house 579: 0/1 successful episodes [pipeline.py: 1243] +05/26 20:27:54 INFO: [Worker 0] Worker 0 starting house 625 (index 3/116) [pipeline.py: 473] +05/26 20:27:54 INFO: [Worker 0] Loaded 1 episodes for house 625 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/26 20:27:54 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 20:28:11 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/26 20:28:15 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_625_ceiling.xml [task_sampler.py: 797] +05/26 20:28:15 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=625, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 20:28:15 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 20:28:15 INFO: [Worker 0] randomize_scene: Setting poses for 57 objects [json_eval_task_sampler.py: 686] +05/26 20:28:15 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 20:28:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 20:28:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 20:28:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 20:28:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 20:28:15 INFO: [Worker 0] Sampled task 'Pick up the wide rustic terracotta bowl speckled and place it next to the blue soap bottle with orange pump' [task_sampler.py: 1136] +05/26 20:28:15 INFO: [Worker 0] Worker 0 house 625 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 20:28:15 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 20:28:15 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene [object_manager.py: 1238] +05/26 20:28:15 WARNING: [Worker 0] Could not find object objafabric_311791deb3864ade81c803d19731c522_1_0_5 in scene [object_manager.py: 1238] +05/26 20:28:15 WARNING: [Worker 0] Could not find object atomizer_973bce9435d852757b03afc168e4c1df_1_0_5 in scene [object_manager.py: 1238] +05/26 20:29:42 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 20:30:55 INFO: [Worker 0] Worker 0 house 625 episode 0 object objabowl_72f752cce53e4942be8e27429ceaf83a_1_0_8 completed with success=True [pipeline.py: 1114] +05/26 20:30:58 INFO: [Worker 0] Batching and saving trajectory data for house_625: 1 episodes [pipeline.py: 233] +05/26 20:30:58 INFO: [Worker 0] Preparing episode data: 43 timesteps [save_utils.py: 284] +05/26 20:31:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 20:31:00 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_625 [save_utils.py: 703] +05/26 20:31:00 INFO: [Worker 0] Successfully saved trajectory data for house_625 in 2.17s (batch: 2.14s, save: 0.03s) [pipeline.py: 280] +05/26 20:31:01 WARNING: [Worker 0] No trajectory data to save for house_625 [pipeline.py: 229] +05/26 20:31:01 INFO: [Worker 0] Worker 0 completed house 625: 1/1 successful episodes [pipeline.py: 1243] +05/26 20:31:01 INFO: [Worker 0] Worker 0 starting house 694 (index 4/116) [pipeline.py: 473] +05/26 20:31:01 INFO: [Worker 0] Loaded 1 episodes for house 694 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/26 20:31:01 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 20:31:27 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_694_ceiling.xml [task_sampler.py: 797] +05/26 20:31:27 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=694, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 20:31:27 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 20:31:27 INFO: [Worker 0] randomize_scene: Setting poses for 83 objects [json_eval_task_sampler.py: 686] +05/26 20:31:27 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 20:31:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 20:31:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 20:31:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 20:31:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 20:31:27 INFO: [Worker 0] Sampled task 'Pick up the tall golden spike with base and place it next to the gray hardcover book' [task_sampler.py: 1136] +05/26 20:31:27 INFO: [Worker 0] Worker 0 house 694 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 20:31:27 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 20:31:27 WARNING: [Worker 0] Could not find object objadressshoe_08158fa3333a4b288bd2746a6ba6f9e5_1_0_5 in scene [object_manager.py: 1238] +05/26 20:31:27 WARNING: [Worker 0] Could not find object objalantern_9d65ca34fa3d432b9372c9cdb60a9a00_1_0_5 in scene [object_manager.py: 1238] +05/26 20:31:27 WARNING: [Worker 0] Could not find object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_5 in scene [object_manager.py: 1238] +05/26 20:48:27 INFO: [Worker 0] Worker 0 house 694 episode 0 object objaspike_71a4c3e4590e4a0ab4967b9f957ebaf5_1_0_6 completed with success=False [pipeline.py: 1114] +05/26 20:48:30 INFO: [Worker 0] Batching and saving trajectory data for house_694: 1 episodes [pipeline.py: 233] +05/26 20:48:30 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 20:48:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 20:48:33 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_694 [save_utils.py: 703] +05/26 20:48:33 INFO: [Worker 0] Successfully saved trajectory data for house_694 in 2.67s (batch: 2.59s, save: 0.09s) [pipeline.py: 280] +05/26 20:48:34 WARNING: [Worker 0] No trajectory data to save for house_694 [pipeline.py: 229] +05/26 20:48:34 INFO: [Worker 0] Worker 0 completed house 694: 0/1 successful episodes [pipeline.py: 1243] +05/26 20:48:34 INFO: [Worker 0] Worker 0 starting house 734 (index 5/116) [pipeline.py: 473] +05/26 20:48:34 INFO: [Worker 0] Loaded 1 episodes for house 734 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/26 20:48:34 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 20:48:50 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_734_ceiling.xml [task_sampler.py: 797] +05/26 20:48:50 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=734, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 20:48:50 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 20:48:50 INFO: [Worker 0] randomize_scene: Setting poses for 104 objects [json_eval_task_sampler.py: 686] +05/26 20:48:50 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 20:48:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 20:48:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 20:48:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 20:48:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 20:48:51 INFO: [Worker 0] Sampled task 'Pick up the black cleaning squeegee and place it next to the blue porous cleaning sponge' [task_sampler.py: 1136] +05/26 20:48:51 INFO: [Worker 0] Worker 0 house 734 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 20:48:51 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 21:10:06 INFO: [Worker 0] Worker 0 house 734 episode 0 object objasqueegee_7003b80d192b4515bab588a29bcd86d3_1_0_5 completed with success=False [pipeline.py: 1114] +05/26 21:10:09 INFO: [Worker 0] Batching and saving trajectory data for house_734: 1 episodes [pipeline.py: 233] +05/26 21:10:09 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 21:10:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 21:10:12 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_734 [save_utils.py: 703] +05/26 21:10:12 INFO: [Worker 0] Successfully saved trajectory data for house_734 in 2.74s (batch: 2.65s, save: 0.09s) [pipeline.py: 280] +05/26 21:10:13 WARNING: [Worker 0] No trajectory data to save for house_734 [pipeline.py: 229] +05/26 21:10:13 INFO: [Worker 0] Worker 0 completed house 734: 0/1 successful episodes [pipeline.py: 1243] +05/26 21:10:13 INFO: [Worker 0] Worker 0 starting house 792 (index 6/116) [pipeline.py: 473] +05/26 21:10:13 INFO: [Worker 0] Loaded 1 episodes for house 792 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/26 21:10:13 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 21:10:51 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_792_ceiling.xml [task_sampler.py: 797] +05/26 21:10:51 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=792, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 21:10:51 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 21:10:51 INFO: [Worker 0] randomize_scene: Setting poses for 79 objects [json_eval_task_sampler.py: 686] +05/26 21:10:51 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 21:10:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 21:10:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 21:10:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 21:10:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 21:10:51 INFO: [Worker 0] Sampled task 'Pick up the metal clamp with threaded rod and bolt and place it next to the red book' [task_sampler.py: 1136] +05/26 21:10:51 INFO: [Worker 0] Worker 0 house 792 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 21:10:51 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 21:10:51 WARNING: [Worker 0] Could not find object objafaceplate_521c117e4216443f9cb116f01483a230_1_0_5 in scene [object_manager.py: 1238] +05/26 21:10:51 WARNING: [Worker 0] Could not find object objaemblem_4d12203206054668bbdb47f0cc56f133_1_0_5 in scene [object_manager.py: 1238] +05/26 21:10:51 WARNING: [Worker 0] Could not find object objawoodenplank_dc77fe25b17e4f89ae7b048e1a3656fe_1_0_8 in scene [object_manager.py: 1238] +05/26 21:12:20 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 21:27:50 INFO: [Worker 0] Worker 0 house 792 episode 0 object objaclamp_9772a68d88194ba9a5f73e3a317536bd_1_0_6 completed with success=False [pipeline.py: 1114] +05/26 21:27:54 INFO: [Worker 0] Batching and saving trajectory data for house_792: 1 episodes [pipeline.py: 233] +05/26 21:27:54 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 21:27:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 21:27:57 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_792 [save_utils.py: 703] +05/26 21:27:57 INFO: [Worker 0] Successfully saved trajectory data for house_792 in 2.72s (batch: 2.63s, save: 0.09s) [pipeline.py: 280] +05/26 21:27:57 WARNING: [Worker 0] No trajectory data to save for house_792 [pipeline.py: 229] +05/26 21:27:57 INFO: [Worker 0] Worker 0 completed house 792: 0/1 successful episodes [pipeline.py: 1243] +05/26 21:27:57 INFO: [Worker 0] Worker 0 starting house 879 (index 7/116) [pipeline.py: 473] +05/26 21:27:57 INFO: [Worker 0] Loaded 1 episodes for house 879 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/26 21:27:57 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 21:28:18 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_879_ceiling.xml [task_sampler.py: 797] +05/26 21:28:18 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=879, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 21:28:18 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 21:28:18 INFO: [Worker 0] randomize_scene: Setting poses for 25 objects [json_eval_task_sampler.py: 686] +05/26 21:28:18 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 21:28:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 21:28:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 21:28:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 21:28:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 21:28:18 INFO: [Worker 0] Sampled task 'Pick up the flat, elongated handle with hole and place it next to the fresh spherical green lettuce' [task_sampler.py: 1136] +05/26 21:28:18 INFO: [Worker 0] Worker 0 house 879 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 21:28:18 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 21:29:46 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 21:36:34 INFO: [Worker 0] Worker 0 house 879 episode 0 object objahandle_a168ec0564fb4a1e98caadee6866be28_1_0_2 completed with success=False [pipeline.py: 1114] +05/26 21:36:38 INFO: [Worker 0] Batching and saving trajectory data for house_879: 1 episodes [pipeline.py: 233] +05/26 21:36:38 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 21:36:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 21:36:41 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_879 [save_utils.py: 703] +05/26 21:36:41 INFO: [Worker 0] Successfully saved trajectory data for house_879 in 2.67s (batch: 2.58s, save: 0.09s) [pipeline.py: 280] +05/26 21:36:41 WARNING: [Worker 0] No trajectory data to save for house_879 [pipeline.py: 229] +05/26 21:36:41 INFO: [Worker 0] Worker 0 completed house 879: 0/1 successful episodes [pipeline.py: 1243] +05/26 21:36:41 INFO: [Worker 0] Worker 0 starting house 942 (index 8/116) [pipeline.py: 473] +05/26 21:36:41 INFO: [Worker 0] Loaded 1 episodes for house 942 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/26 21:36:41 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 21:36:49 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/26 21:36:52 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_942_ceiling.xml [task_sampler.py: 797] +05/26 21:36:52 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=942, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 21:36:52 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 21:36:52 INFO: [Worker 0] randomize_scene: Setting poses for 66 objects [json_eval_task_sampler.py: 686] +05/26 21:36:52 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 21:36:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 21:36:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 21:36:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 21:36:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 21:36:52 INFO: [Worker 0] Sampled task 'Pick up the digital watch and place it next to the black radio control transmitter' [task_sampler.py: 1136] +05/26 21:36:52 INFO: [Worker 0] Worker 0 house 942 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 21:36:52 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 21:36:52 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene [object_manager.py: 1238] +05/26 21:38:26 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 21:51:56 INFO: [Worker 0] Worker 0 house 942 episode 0 object objawristwatch_63e67b020cd349e89c3a506a513c1108_2_0_9 completed with success=False [pipeline.py: 1114] +05/26 21:51:59 INFO: [Worker 0] Batching and saving trajectory data for house_942: 1 episodes [pipeline.py: 233] +05/26 21:51:59 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 21:52:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 21:52:02 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_942 [save_utils.py: 703] +05/26 21:52:02 INFO: [Worker 0] Successfully saved trajectory data for house_942 in 2.76s (batch: 2.67s, save: 0.09s) [pipeline.py: 280] +05/26 21:52:03 WARNING: [Worker 0] No trajectory data to save for house_942 [pipeline.py: 229] +05/26 21:52:03 INFO: [Worker 0] Worker 0 completed house 942: 0/1 successful episodes [pipeline.py: 1243] +05/26 21:52:03 INFO: [Worker 0] Worker 0 starting house 1058 (index 9/116) [pipeline.py: 473] +05/26 21:52:03 INFO: [Worker 0] Loaded 1 episodes for house 1058 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/26 21:52:03 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 21:52:08 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1058_ceiling.xml [task_sampler.py: 797] +05/26 21:52:08 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1058, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 21:52:08 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 21:52:08 INFO: [Worker 0] randomize_scene: Setting poses for 67 objects [json_eval_task_sampler.py: 686] +05/26 21:52:08 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 21:52:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 21:52:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 21:52:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 21:52:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 21:52:08 INFO: [Worker 0] Sampled task 'Pick up the lepidopteran and place it next to the brown rectangular bread' [task_sampler.py: 1136] +05/26 21:52:08 INFO: [Worker 0] Worker 0 house 1058 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 21:52:08 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 21:53:47 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 22:07:11 INFO: [Worker 0] Worker 0 house 1058 episode 0 object objamoth_c776c4a1d0a447388a8808dab3817af9_1_0_2 completed with success=False [pipeline.py: 1114] +05/26 22:07:15 INFO: [Worker 0] Batching and saving trajectory data for house_1058: 1 episodes [pipeline.py: 233] +05/26 22:07:15 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 22:07:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 22:07:17 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1058 [save_utils.py: 703] +05/26 22:07:17 INFO: [Worker 0] Successfully saved trajectory data for house_1058 in 2.45s (batch: 2.36s, save: 0.09s) [pipeline.py: 280] +05/26 22:07:18 WARNING: [Worker 0] No trajectory data to save for house_1058 [pipeline.py: 229] +05/26 22:07:18 INFO: [Worker 0] Worker 0 completed house 1058: 0/1 successful episodes [pipeline.py: 1243] +05/26 22:07:18 INFO: [Worker 0] Worker 0 starting house 1180 (index 10/116) [pipeline.py: 473] +05/26 22:07:18 INFO: [Worker 0] Loaded 1 episodes for house 1180 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/26 22:07:18 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 22:08:10 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1180_ceiling.xml [task_sampler.py: 797] +05/26 22:08:10 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1180, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 22:08:10 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 22:08:10 INFO: [Worker 0] randomize_scene: Setting poses for 45 objects [json_eval_task_sampler.py: 686] +05/26 22:08:10 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 22:08:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 22:08:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 22:08:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 22:08:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 22:08:10 INFO: [Worker 0] Sampled task 'Pick up the dark floral mug and place it next to the transparent tall wine glass' [task_sampler.py: 1136] +05/26 22:08:10 INFO: [Worker 0] Worker 0 house 1180 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 22:08:10 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 22:09:46 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 22:19:17 INFO: [Worker 0] Worker 0 house 1180 episode 0 object objamug_a30aab65d235438bbfc6699faaea762d_1_0_6 completed with success=False [pipeline.py: 1114] +05/26 22:19:20 INFO: [Worker 0] Batching and saving trajectory data for house_1180: 1 episodes [pipeline.py: 233] +05/26 22:19:20 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 22:19:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 22:19:23 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1180 [save_utils.py: 703] +05/26 22:19:23 INFO: [Worker 0] Successfully saved trajectory data for house_1180 in 2.70s (batch: 2.61s, save: 0.09s) [pipeline.py: 280] +05/26 22:19:24 WARNING: [Worker 0] No trajectory data to save for house_1180 [pipeline.py: 229] +05/26 22:19:24 INFO: [Worker 0] Worker 0 completed house 1180: 0/1 successful episodes [pipeline.py: 1243] +05/26 22:19:24 INFO: [Worker 0] Worker 0 starting house 1260 (index 11/116) [pipeline.py: 473] +05/26 22:19:24 INFO: [Worker 0] Loaded 1 episodes for house 1260 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/26 22:19:24 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 22:19:38 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1260_ceiling.xml [task_sampler.py: 797] +05/26 22:19:38 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1260, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 22:19:38 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 22:19:38 INFO: [Worker 0] randomize_scene: Setting poses for 42 objects [json_eval_task_sampler.py: 686] +05/26 22:19:38 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 22:19:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 22:19:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 22:19:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 22:19:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 22:19:38 INFO: [Worker 0] Sampled task 'Pick up the loudspeaker and place it next to the teal hardcover book with colorful spine' [task_sampler.py: 1136] +05/26 22:19:38 INFO: [Worker 0] Worker 0 house 1260 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 22:19:38 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 22:21:14 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 22:31:16 INFO: [Worker 0] Worker 0 house 1260 episode 0 object objasmartspeaker_0e9d0a055dde4d83b7fd53d8b7465916_1_0_4 completed with success=False [pipeline.py: 1114] +05/26 22:31:20 INFO: [Worker 0] Batching and saving trajectory data for house_1260: 1 episodes [pipeline.py: 233] +05/26 22:31:20 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 22:31:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 22:31:22 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1260 [save_utils.py: 703] +05/26 22:31:22 INFO: [Worker 0] Successfully saved trajectory data for house_1260 in 2.35s (batch: 2.27s, save: 0.09s) [pipeline.py: 280] +05/26 22:31:22 WARNING: [Worker 0] No trajectory data to save for house_1260 [pipeline.py: 229] +05/26 22:31:22 INFO: [Worker 0] Worker 0 completed house 1260: 0/1 successful episodes [pipeline.py: 1243] +05/26 22:31:22 INFO: [Worker 0] Worker 0 starting house 1332 (index 12/116) [pipeline.py: 473] +05/26 22:31:22 INFO: [Worker 0] Loaded 1 episodes for house 1332 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/26 22:31:22 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 22:32:12 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/26 22:32:15 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1332_ceiling.xml [task_sampler.py: 797] +05/26 22:32:15 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1332, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 22:32:15 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 22:32:15 INFO: [Worker 0] randomize_scene: Setting poses for 48 objects [json_eval_task_sampler.py: 686] +05/26 22:32:15 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 22:32:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 22:32:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 22:32:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 22:32:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 22:32:15 INFO: [Worker 0] Sampled task 'Pick up the yellow handled polished kitchen knife and place it next to the rectangular dark non-stick frying pan' [task_sampler.py: 1136] +05/26 22:32:15 INFO: [Worker 0] Worker 0 house 1332 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 22:32:15 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 22:32:15 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene [object_manager.py: 1238] +05/26 22:44:23 INFO: [Worker 0] Worker 0 house 1332 episode 0 object knife_8409451f726b7f0640a91ddd7ae630cf_1_0_6 completed with success=False [pipeline.py: 1114] +05/26 22:44:26 INFO: [Worker 0] Batching and saving trajectory data for house_1332: 1 episodes [pipeline.py: 233] +05/26 22:44:26 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 22:44:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 22:44:29 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1332 [save_utils.py: 703] +05/26 22:44:29 INFO: [Worker 0] Successfully saved trajectory data for house_1332 in 2.49s (batch: 2.40s, save: 0.09s) [pipeline.py: 280] +05/26 22:44:29 WARNING: [Worker 0] No trajectory data to save for house_1332 [pipeline.py: 229] +05/26 22:44:29 INFO: [Worker 0] Worker 0 completed house 1332: 0/1 successful episodes [pipeline.py: 1243] +05/26 22:44:29 INFO: [Worker 0] Worker 0 starting house 1399 (index 13/116) [pipeline.py: 473] +05/26 22:44:29 INFO: [Worker 0] Loaded 1 episodes for house 1399 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/26 22:44:29 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 22:44:31 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/26 22:44:34 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1399_ceiling.xml [task_sampler.py: 797] +05/26 22:44:34 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1399, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 22:44:34 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 22:44:34 INFO: [Worker 0] randomize_scene: Setting poses for 62 objects [json_eval_task_sampler.py: 686] +05/26 22:44:34 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 22:44:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 22:44:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 22:44:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 22:44:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 22:44:35 INFO: [Worker 0] Sampled task 'Pick up the compact holographic weapon sight and place it next to the rectangular pillow with earthy stripes' [task_sampler.py: 1136] +05/26 22:44:35 INFO: [Worker 0] Worker 0 house 1399 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 22:44:35 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 22:44:35 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_9 in scene [object_manager.py: 1238] +05/26 22:57:17 INFO: [Worker 0] Worker 0 house 1399 episode 0 object objaweaponsight_a7323938c943423a8a7adb8656b0168f_1_0_6 completed with success=True [pipeline.py: 1114] +05/26 22:57:21 INFO: [Worker 0] Batching and saving trajectory data for house_1399: 1 episodes [pipeline.py: 233] +05/26 22:57:21 INFO: [Worker 0] Preparing episode data: 321 timesteps [save_utils.py: 284] +05/26 22:57:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 22:57:23 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1399 [save_utils.py: 703] +05/26 22:57:23 INFO: [Worker 0] Successfully saved trajectory data for house_1399 in 2.62s (batch: 2.56s, save: 0.07s) [pipeline.py: 280] +05/26 22:57:24 WARNING: [Worker 0] No trajectory data to save for house_1399 [pipeline.py: 229] +05/26 22:57:24 INFO: [Worker 0] Worker 0 completed house 1399: 1/1 successful episodes [pipeline.py: 1243] +05/26 22:57:24 INFO: [Worker 0] Worker 0 starting house 1536 (index 14/116) [pipeline.py: 473] +05/26 22:57:24 INFO: [Worker 0] Loaded 1 episodes for house 1536 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/26 22:57:24 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 22:57:41 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1536_ceiling.xml [task_sampler.py: 797] +05/26 22:57:41 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1536, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 22:57:41 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 22:57:41 INFO: [Worker 0] randomize_scene: Setting poses for 48 objects [json_eval_task_sampler.py: 686] +05/26 22:57:41 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 22:57:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 22:57:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 22:57:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 22:57:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 22:57:41 INFO: [Worker 0] Sampled task 'Pick up the gold foil chocolate bunny and place it next to the dark glossy hardcover book with gold' [task_sampler.py: 1136] +05/26 22:57:41 INFO: [Worker 0] Worker 0 house 1536 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 22:57:41 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 22:59:16 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 23:08:39 INFO: [Worker 0] Worker 0 house 1536 episode 0 object objachocolatebunny_3fd78d69b770429a8a680caaa65e57e8_1_0_6 completed with success=False [pipeline.py: 1114] +05/26 23:08:42 INFO: [Worker 0] Batching and saving trajectory data for house_1536: 1 episodes [pipeline.py: 233] +05/26 23:08:42 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 23:08:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 23:08:44 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1536 [save_utils.py: 703] +05/26 23:08:44 INFO: [Worker 0] Successfully saved trajectory data for house_1536 in 2.38s (batch: 2.27s, save: 0.10s) [pipeline.py: 280] +05/26 23:08:45 WARNING: [Worker 0] No trajectory data to save for house_1536 [pipeline.py: 229] +05/26 23:08:45 INFO: [Worker 0] Worker 0 completed house 1536: 0/1 successful episodes [pipeline.py: 1243] +05/26 23:08:45 INFO: [Worker 0] Worker 0 starting house 1640 (index 15/116) [pipeline.py: 473] +05/26 23:08:45 INFO: [Worker 0] Loaded 1 episodes for house 1640 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/26 23:08:45 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 23:08:48 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1640_ceiling.xml [task_sampler.py: 797] +05/26 23:08:48 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1640, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 23:08:48 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 23:08:48 INFO: [Worker 0] randomize_scene: Setting poses for 45 objects [json_eval_task_sampler.py: 686] +05/26 23:08:48 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 23:08:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 23:08:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 23:08:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 23:08:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 23:08:48 INFO: [Worker 0] Sampled task 'Pick up the tall yellow poster with woman and place it next to the soapdispenser' [task_sampler.py: 1136] +05/26 23:08:48 INFO: [Worker 0] Worker 0 house 1640 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 23:08:48 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 23:08:48 WARNING: [Worker 0] Could not find object objadecorativemold_148f80486ea04f9a873fb212e98f87ae_1_0_3 in scene [object_manager.py: 1238] +05/26 23:08:48 WARNING: [Worker 0] Could not find object objadecorativeemblem_dc44a9d16aaa4b61addce2a8480f54f6_1_0_3 in scene [object_manager.py: 1238] +05/26 23:20:22 INFO: [Worker 0] Worker 0 house 1640 episode 0 object objaposter_f15988d0eb0a4d309738ffc5bbd3ba4d_1_0_2 completed with success=False [pipeline.py: 1114] +05/26 23:20:25 INFO: [Worker 0] Batching and saving trajectory data for house_1640: 1 episodes [pipeline.py: 233] +05/26 23:20:25 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 23:20:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 23:20:28 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1640 [save_utils.py: 703] +05/26 23:20:28 INFO: [Worker 0] Successfully saved trajectory data for house_1640 in 2.65s (batch: 2.56s, save: 0.09s) [pipeline.py: 280] +05/26 23:20:28 WARNING: [Worker 0] No trajectory data to save for house_1640 [pipeline.py: 229] +05/26 23:20:28 INFO: [Worker 0] Worker 0 completed house 1640: 0/1 successful episodes [pipeline.py: 1243] +05/26 23:20:28 INFO: [Worker 0] Worker 0 starting house 1732 (index 16/116) [pipeline.py: 473] +05/26 23:20:28 INFO: [Worker 0] Loaded 1 episodes for house 1732 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/26 23:20:28 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 23:20:32 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1732_ceiling.xml [task_sampler.py: 797] +05/26 23:20:32 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1732, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 23:20:32 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 23:20:32 INFO: [Worker 0] randomize_scene: Setting poses for 44 objects [json_eval_task_sampler.py: 686] +05/26 23:20:32 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 23:20:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 23:20:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 23:20:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 23:20:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 23:20:32 INFO: [Worker 0] Sampled task 'Pick up the black folding knife with accent and place it next to the translucent ergonomic spray bottle' [task_sampler.py: 1136] +05/26 23:20:32 INFO: [Worker 0] Worker 0 house 1732 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 23:20:32 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 23:22:11 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 23:31:03 INFO: [Worker 0] Worker 0 house 1732 episode 0 object objapocketknife_a794889d68654206b0ab9f81a07f3ed0_1_0_6 completed with success=False [pipeline.py: 1114] +05/26 23:31:07 INFO: [Worker 0] Batching and saving trajectory data for house_1732: 1 episodes [pipeline.py: 233] +05/26 23:31:07 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 23:31:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 23:31:10 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1732 [save_utils.py: 703] +05/26 23:31:10 INFO: [Worker 0] Successfully saved trajectory data for house_1732 in 2.73s (batch: 2.65s, save: 0.09s) [pipeline.py: 280] +05/26 23:31:11 WARNING: [Worker 0] No trajectory data to save for house_1732 [pipeline.py: 229] +05/26 23:31:11 INFO: [Worker 0] Worker 0 completed house 1732: 0/1 successful episodes [pipeline.py: 1243] +05/26 23:31:11 INFO: [Worker 0] Worker 0 starting house 1781 (index 17/116) [pipeline.py: 473] +05/26 23:31:11 INFO: [Worker 0] Loaded 1 episodes for house 1781 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/26 23:31:11 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 23:32:01 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1781_ceiling.xml [task_sampler.py: 797] +05/26 23:32:01 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1781, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 23:32:01 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 23:32:01 INFO: [Worker 0] randomize_scene: Setting poses for 31 objects [json_eval_task_sampler.py: 686] +05/26 23:32:01 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 23:32:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 23:32:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 23:32:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 23:32:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 23:32:01 INFO: [Worker 0] Sampled task 'Pick up the pill bottle and place it next to the golden star badge' [task_sampler.py: 1136] +05/26 23:32:01 INFO: [Worker 0] Worker 0 house 1781 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 23:32:01 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 23:33:36 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 23:41:50 INFO: [Worker 0] Worker 0 house 1781 episode 0 object objapillbottle_c570abc36b9a4fb1bf5b1aaf4c9c812f_1_0_6 completed with success=False [pipeline.py: 1114] +05/26 23:41:53 INFO: [Worker 0] Batching and saving trajectory data for house_1781: 1 episodes [pipeline.py: 233] +05/26 23:41:53 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 23:41:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 23:41:56 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1781 [save_utils.py: 703] +05/26 23:41:56 INFO: [Worker 0] Successfully saved trajectory data for house_1781 in 2.66s (batch: 2.57s, save: 0.09s) [pipeline.py: 280] +05/26 23:41:57 WARNING: [Worker 0] No trajectory data to save for house_1781 [pipeline.py: 229] +05/26 23:41:57 INFO: [Worker 0] Worker 0 completed house 1781: 0/1 successful episodes [pipeline.py: 1243] +05/26 23:41:57 INFO: [Worker 0] Worker 0 starting house 1912 (index 18/116) [pipeline.py: 473] +05/26 23:41:57 INFO: [Worker 0] Loaded 1 episodes for house 1912 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/26 23:41:57 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 23:42:03 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1912_ceiling.xml [task_sampler.py: 797] +05/26 23:42:03 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1912, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 23:42:03 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 23:42:03 INFO: [Worker 0] randomize_scene: Setting poses for 82 objects [json_eval_task_sampler.py: 686] +05/26 23:42:03 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 23:42:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 23:42:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 23:42:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 23:42:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 23:42:03 INFO: [Worker 0] Sampled task 'Pick up the red tdk vhs tape and place it next to the soap bottle' [task_sampler.py: 1136] +05/26 23:42:03 INFO: [Worker 0] Worker 0 house 1912 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 23:42:03 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 23:43:51 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 23:58:50 INFO: [Worker 0] Worker 0 house 1912 episode 0 object objavhscassette_85ea6fb195194b85816ed76bb10edfca_1_0_8 completed with success=False [pipeline.py: 1114] +05/26 23:58:53 INFO: [Worker 0] Batching and saving trajectory data for house_1912: 1 episodes [pipeline.py: 233] +05/26 23:58:53 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 23:58:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 23:58:55 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1912 [save_utils.py: 703] +05/26 23:58:55 INFO: [Worker 0] Successfully saved trajectory data for house_1912 in 2.40s (batch: 2.31s, save: 0.09s) [pipeline.py: 280] +05/26 23:58:56 WARNING: [Worker 0] No trajectory data to save for house_1912 [pipeline.py: 229] +05/26 23:58:56 INFO: [Worker 0] Worker 0 completed house 1912: 0/1 successful episodes [pipeline.py: 1243] +05/26 23:58:56 INFO: [Worker 0] Worker 0 starting house 2024 (index 19/116) [pipeline.py: 473] +05/26 23:58:56 INFO: [Worker 0] Loaded 1 episodes for house 2024 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/26 23:58:56 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 00:02:39 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2024_ceiling.xml [task_sampler.py: 797] +05/27 00:02:39 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2024, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 00:02:39 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 00:02:39 INFO: [Worker 0] randomize_scene: Setting poses for 35 objects [json_eval_task_sampler.py: 686] +05/27 00:02:39 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 00:02:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 00:02:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 00:02:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 00:02:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 00:02:39 INFO: [Worker 0] Sampled task 'Pick up the red jewelry box with mirror and place it next to the plant life' [task_sampler.py: 1136] +05/27 00:02:39 INFO: [Worker 0] Worker 0 house 2024 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 00:02:40 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 00:04:20 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 00:12:39 INFO: [Worker 0] Worker 0 house 2024 episode 0 object objajewelrybox_05624f21a8684474b641ab7865d5c3b0_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 00:12:42 INFO: [Worker 0] Batching and saving trajectory data for house_2024: 1 episodes [pipeline.py: 233] +05/27 00:12:42 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 00:12:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 00:12:45 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2024 [save_utils.py: 703] +05/27 00:12:45 INFO: [Worker 0] Successfully saved trajectory data for house_2024 in 2.45s (batch: 2.36s, save: 0.09s) [pipeline.py: 280] +05/27 00:12:45 WARNING: [Worker 0] No trajectory data to save for house_2024 [pipeline.py: 229] +05/27 00:12:45 INFO: [Worker 0] Worker 0 completed house 2024: 0/1 successful episodes [pipeline.py: 1243] +05/27 00:12:45 INFO: [Worker 0] Worker 0 starting house 2090 (index 20/116) [pipeline.py: 473] +05/27 00:12:45 INFO: [Worker 0] Loaded 1 episodes for house 2090 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 00:12:45 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 00:12:49 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2090_ceiling.xml [task_sampler.py: 797] +05/27 00:12:49 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2090, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 00:12:49 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 00:12:49 INFO: [Worker 0] randomize_scene: Setting poses for 46 objects [json_eval_task_sampler.py: 686] +05/27 00:12:49 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 00:12:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 00:12:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 00:12:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 00:12:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 00:12:49 INFO: [Worker 0] Sampled task 'Pick up the sleek metallic juicer with three legs and place it next to the olive scalloped ceramic plate' [task_sampler.py: 1136] +05/27 00:12:49 INFO: [Worker 0] Worker 0 house 2090 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 00:12:49 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 00:12:49 WARNING: [Worker 0] Could not find object objaopticaldevice_7ed2098a406244aebfad75b9d2e6827b_1_0_7 in scene [object_manager.py: 1238] +05/27 00:12:49 WARNING: [Worker 0] Could not find object bowl_0edf7e6cf6327a9271981c502739c394_1_0_7 in scene [object_manager.py: 1238] +05/27 00:14:25 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 00:24:35 INFO: [Worker 0] Worker 0 house 2090 episode 0 object objajuicer_781344ece32d4692affe82c5474c0b75_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 00:24:39 INFO: [Worker 0] Batching and saving trajectory data for house_2090: 1 episodes [pipeline.py: 233] +05/27 00:24:39 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 00:24:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 00:24:42 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2090 [save_utils.py: 703] +05/27 00:24:42 INFO: [Worker 0] Successfully saved trajectory data for house_2090 in 2.68s (batch: 2.58s, save: 0.10s) [pipeline.py: 280] +05/27 00:24:42 WARNING: [Worker 0] No trajectory data to save for house_2090 [pipeline.py: 229] +05/27 00:24:42 INFO: [Worker 0] Worker 0 completed house 2090: 0/1 successful episodes [pipeline.py: 1243] +05/27 00:24:42 INFO: [Worker 0] Worker 0 starting house 2200 (index 21/116) [pipeline.py: 473] +05/27 00:24:42 INFO: [Worker 0] Loaded 1 episodes for house 2200 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 00:24:42 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 00:24:46 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2200_ceiling.xml [task_sampler.py: 797] +05/27 00:24:46 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2200, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 00:24:46 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 00:24:46 INFO: [Worker 0] randomize_scene: Setting poses for 53 objects [json_eval_task_sampler.py: 686] +05/27 00:24:46 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 00:24:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 00:24:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 00:24:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 00:24:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 00:24:46 INFO: [Worker 0] Sampled task 'Pick up the heavy-duty metal shackle and place it next to the octagonal translucent soap bottle' [task_sampler.py: 1136] +05/27 00:24:46 INFO: [Worker 0] Worker 0 house 2200 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 00:24:46 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 00:24:46 WARNING: [Worker 0] Could not find object objasawhorse_b9f06d829ca7429baeba040c915d0ffb_1_0_4 in scene [object_manager.py: 1238] +05/27 00:26:25 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 00:27:53 INFO: [Worker 0] Worker 0 house 2200 episode 0 object objashackle_f04582e626ee4b09b5b870a2730d12b7_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 00:27:56 INFO: [Worker 0] Batching and saving trajectory data for house_2200: 1 episodes [pipeline.py: 233] +05/27 00:27:56 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 00:27:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 00:27:59 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2200 [save_utils.py: 703] +05/27 00:27:59 INFO: [Worker 0] Successfully saved trajectory data for house_2200 in 2.45s (batch: 2.36s, save: 0.09s) [pipeline.py: 280] +05/27 00:27:59 WARNING: [Worker 0] No trajectory data to save for house_2200 [pipeline.py: 229] +05/27 00:27:59 INFO: [Worker 0] Worker 0 completed house 2200: 0/1 successful episodes [pipeline.py: 1243] +05/27 00:27:59 INFO: [Worker 0] Worker 0 starting house 2306 (index 22/116) [pipeline.py: 473] +05/27 00:27:59 INFO: [Worker 0] Loaded 1 episodes for house 2306 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 00:27:59 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 00:28:17 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2306_ceiling.xml [task_sampler.py: 797] +05/27 00:28:17 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2306, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 00:28:17 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 00:28:17 INFO: [Worker 0] randomize_scene: Setting poses for 66 objects [json_eval_task_sampler.py: 686] +05/27 00:28:17 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 00:28:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 00:28:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 00:28:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 00:28:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 00:28:17 INFO: [Worker 0] Sampled task 'Pick up the golden caduceus with serpents and wings and place it next to the white square bowl' [task_sampler.py: 1136] +05/27 00:28:17 INFO: [Worker 0] Worker 0 house 2306 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 00:28:17 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 00:28:18 WARNING: [Worker 0] Could not find object objasneaker_75c97069e89c4d84ab36922b77a97678_1_0_5 in scene [object_manager.py: 1238] +05/27 00:28:18 WARNING: [Worker 0] Could not find object objasandal_48b073d405e5472d9fd7e0dbe45c973e_1_0_5 in scene [object_manager.py: 1238] +05/27 00:29:56 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 00:44:40 INFO: [Worker 0] Worker 0 house 2306 episode 0 object objacaduceus_93f79bd813a444a6942c7ab8259977ec_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 00:44:44 INFO: [Worker 0] Batching and saving trajectory data for house_2306: 1 episodes [pipeline.py: 233] +05/27 00:44:44 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 00:44:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 00:44:47 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2306 [save_utils.py: 703] +05/27 00:44:47 INFO: [Worker 0] Successfully saved trajectory data for house_2306 in 2.85s (batch: 2.76s, save: 0.09s) [pipeline.py: 280] +05/27 00:44:47 WARNING: [Worker 0] No trajectory data to save for house_2306 [pipeline.py: 229] +05/27 00:44:47 INFO: [Worker 0] Worker 0 completed house 2306: 0/1 successful episodes [pipeline.py: 1243] +05/27 00:44:47 INFO: [Worker 0] Worker 0 starting house 2433 (index 23/116) [pipeline.py: 473] +05/27 00:44:47 INFO: [Worker 0] Loaded 1 episodes for house 2433 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 00:44:47 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 00:44:49 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2433_ceiling.xml [task_sampler.py: 797] +05/27 00:44:49 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2433, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 00:44:49 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 00:44:49 INFO: [Worker 0] randomize_scene: Setting poses for 31 objects [json_eval_task_sampler.py: 686] +05/27 00:44:49 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 00:44:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 00:44:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 00:44:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 00:44:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 00:44:49 INFO: [Worker 0] Sampled task 'Pick up the blue blades and place it next to the square blue plate' [task_sampler.py: 1136] +05/27 00:44:49 INFO: [Worker 0] Worker 0 house 2433 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 00:44:49 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 00:44:49 WARNING: [Worker 0] Could not find object egg_90ac4704a427669f3e6c8af344d2d0d3_1_0_2 in scene [object_manager.py: 1238] +05/27 00:46:29 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 00:53:36 INFO: [Worker 0] Worker 0 house 2433 episode 0 object objadecorativeblades_49da7278b073450686dec40d5d61f8ef_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 00:53:39 INFO: [Worker 0] Batching and saving trajectory data for house_2433: 1 episodes [pipeline.py: 233] +05/27 00:53:39 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 00:53:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 00:53:42 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2433 [save_utils.py: 703] +05/27 00:53:42 INFO: [Worker 0] Successfully saved trajectory data for house_2433 in 2.42s (batch: 2.33s, save: 0.09s) [pipeline.py: 280] +05/27 00:53:42 WARNING: [Worker 0] No trajectory data to save for house_2433 [pipeline.py: 229] +05/27 00:53:42 INFO: [Worker 0] Worker 0 completed house 2433: 0/1 successful episodes [pipeline.py: 1243] +05/27 00:53:42 INFO: [Worker 0] Worker 0 starting house 2482 (index 24/116) [pipeline.py: 473] +05/27 00:53:42 INFO: [Worker 0] Loaded 1 episodes for house 2482 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 00:53:42 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 00:55:56 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2482_ceiling.xml [task_sampler.py: 797] +05/27 00:55:56 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2482, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 00:55:56 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 00:55:56 INFO: [Worker 0] randomize_scene: Setting poses for 118 objects [json_eval_task_sampler.py: 686] +05/27 00:55:56 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 00:55:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 00:55:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 00:55:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 00:55:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 00:55:56 INFO: [Worker 0] Sampled task 'Pick up the street sign and place it next to the sleek slim dark phone with camera' [task_sampler.py: 1136] +05/27 00:55:56 INFO: [Worker 0] Worker 0 house 2482 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 00:55:56 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 00:55:56 WARNING: [Worker 0] Could not find object statue_82f73072d5461ff460bb390c3adf02fa_1_0_3 in scene [object_manager.py: 1238] +05/27 01:15:56 INFO: [Worker 0] Worker 0 house 2482 episode 0 object objasign_f7f6faf55fda4fbc9d4b2558375b0378_1_0_4 completed with success=False [pipeline.py: 1114] +05/27 01:15:59 INFO: [Worker 0] Batching and saving trajectory data for house_2482: 1 episodes [pipeline.py: 233] +05/27 01:15:59 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 01:16:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 01:16:02 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2482 [save_utils.py: 703] +05/27 01:16:02 INFO: [Worker 0] Successfully saved trajectory data for house_2482 in 2.69s (batch: 2.60s, save: 0.09s) [pipeline.py: 280] +05/27 01:16:03 WARNING: [Worker 0] No trajectory data to save for house_2482 [pipeline.py: 229] +05/27 01:16:03 INFO: [Worker 0] Worker 0 completed house 2482: 0/1 successful episodes [pipeline.py: 1243] +05/27 01:16:03 INFO: [Worker 0] Worker 0 starting house 2597 (index 25/116) [pipeline.py: 473] +05/27 01:16:03 INFO: [Worker 0] Loaded 1 episodes for house 2597 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 01:16:03 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 01:16:05 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2597_ceiling.xml [task_sampler.py: 797] +05/27 01:16:05 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2597, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 01:16:05 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 01:16:05 INFO: [Worker 0] randomize_scene: Setting poses for 22 objects [json_eval_task_sampler.py: 686] +05/27 01:16:05 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 01:16:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 01:16:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 01:16:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 01:16:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 01:16:05 INFO: [Worker 0] Sampled task 'Pick up the sleek ipod with screen and wheel and place it next to the colorful dodecahedron with text' [task_sampler.py: 1136] +05/27 01:16:05 INFO: [Worker 0] Worker 0 house 2597 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 01:16:05 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 01:24:28 INFO: [Worker 0] Worker 0 house 2597 episode 0 object objaportablemediaplayer_70b4a6925971425da94b833813099beb_1_0_3 completed with success=False [pipeline.py: 1114] +05/27 01:24:32 INFO: [Worker 0] Batching and saving trajectory data for house_2597: 1 episodes [pipeline.py: 233] +05/27 01:24:32 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 01:24:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 01:24:34 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2597 [save_utils.py: 703] +05/27 01:24:34 INFO: [Worker 0] Successfully saved trajectory data for house_2597 in 2.67s (batch: 2.57s, save: 0.09s) [pipeline.py: 280] +05/27 01:24:35 WARNING: [Worker 0] No trajectory data to save for house_2597 [pipeline.py: 229] +05/27 01:24:35 INFO: [Worker 0] Worker 0 completed house 2597: 0/1 successful episodes [pipeline.py: 1243] +05/27 01:24:35 INFO: [Worker 0] Worker 0 starting house 2683 (index 26/116) [pipeline.py: 473] +05/27 01:24:35 INFO: [Worker 0] Loaded 1 episodes for house 2683 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 01:24:35 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 01:24:39 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2683_ceiling.xml [task_sampler.py: 797] +05/27 01:24:39 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2683, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 01:24:39 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 01:24:39 INFO: [Worker 0] randomize_scene: Setting poses for 52 objects [json_eval_task_sampler.py: 686] +05/27 01:24:39 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 01:24:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 01:24:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 01:24:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 01:24:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 01:24:39 INFO: [Worker 0] Sampled task 'Pick up the teal vintage handheld camera and place it next to the yellow handled polished kitchen knife' [task_sampler.py: 1136] +05/27 01:24:39 INFO: [Worker 0] Worker 0 house 2683 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 01:24:39 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 01:26:20 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 01:37:56 INFO: [Worker 0] Worker 0 house 2683 episode 0 object objadecorativecamera_ab399345c2cb477f85087554b280432c_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 01:38:00 INFO: [Worker 0] Batching and saving trajectory data for house_2683: 1 episodes [pipeline.py: 233] +05/27 01:38:00 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 01:38:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 01:38:03 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2683 [save_utils.py: 703] +05/27 01:38:03 INFO: [Worker 0] Successfully saved trajectory data for house_2683 in 2.82s (batch: 2.73s, save: 0.09s) [pipeline.py: 280] +05/27 01:38:04 WARNING: [Worker 0] No trajectory data to save for house_2683 [pipeline.py: 229] +05/27 01:38:04 INFO: [Worker 0] Worker 0 completed house 2683: 0/1 successful episodes [pipeline.py: 1243] +05/27 01:38:04 INFO: [Worker 0] Worker 0 starting house 2824 (index 27/116) [pipeline.py: 473] +05/27 01:38:04 INFO: [Worker 0] Loaded 1 episodes for house 2824 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 01:38:04 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 01:39:06 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2824_ceiling.xml [task_sampler.py: 797] +05/27 01:39:06 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2824, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 01:39:06 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 01:39:06 INFO: [Worker 0] randomize_scene: Setting poses for 32 objects [json_eval_task_sampler.py: 686] +05/27 01:39:06 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 01:39:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 01:39:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 01:39:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 01:39:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 01:39:06 INFO: [Worker 0] Sampled task 'Pick up the octagonal silver plate and place it next to the steel pot' [task_sampler.py: 1136] +05/27 01:39:06 INFO: [Worker 0] Worker 0 house 2824 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 01:39:06 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 01:40:42 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 01:49:12 INFO: [Worker 0] Worker 0 house 2824 episode 0 object plate_c15e3f7680e3167e2f8d34f3a4bbadaf_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 01:49:15 INFO: [Worker 0] Batching and saving trajectory data for house_2824: 1 episodes [pipeline.py: 233] +05/27 01:49:15 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 01:49:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 01:49:17 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2824 [save_utils.py: 703] +05/27 01:49:17 INFO: [Worker 0] Successfully saved trajectory data for house_2824 in 2.40s (batch: 2.30s, save: 0.09s) [pipeline.py: 280] +05/27 01:49:18 WARNING: [Worker 0] No trajectory data to save for house_2824 [pipeline.py: 229] +05/27 01:49:18 INFO: [Worker 0] Worker 0 completed house 2824: 0/1 successful episodes [pipeline.py: 1243] +05/27 01:49:18 INFO: [Worker 0] Worker 0 starting house 2891 (index 28/116) [pipeline.py: 473] +05/27 01:49:18 INFO: [Worker 0] Loaded 1 episodes for house 2891 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 01:49:18 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 01:49:22 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2891_ceiling.xml [task_sampler.py: 797] +05/27 01:49:22 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2891, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 01:49:22 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 01:49:22 INFO: [Worker 0] randomize_scene: Setting poses for 52 objects [json_eval_task_sampler.py: 686] +05/27 01:49:22 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 01:49:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 01:49:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 01:49:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 01:49:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 01:49:22 INFO: [Worker 0] Sampled task 'Pick up the black modern microphone and place it next to the ornate gray crown with lettering' [task_sampler.py: 1136] +05/27 01:49:22 INFO: [Worker 0] Worker 0 house 2891 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 01:49:22 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 01:49:22 WARNING: [Worker 0] Could not find object objafacemask_061da4f589f1477692d5d06b8812d518_1_0_5 in scene [object_manager.py: 1238] +05/27 01:49:22 WARNING: [Worker 0] Could not find object objalightswitchcoverplate_8f601aff31c8480db54a5fe7c85b34c2_1_0_5 in scene [object_manager.py: 1238] +05/27 01:49:22 WARNING: [Worker 0] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene [object_manager.py: 1238] +05/27 01:49:22 WARNING: [Worker 0] Could not find object objamodelmissile_1be9ec86a68d4657920fec178be1626c_1_0_7 in scene [object_manager.py: 1238] +05/27 01:49:22 WARNING: [Worker 0] Could not find object plate_078f7b7772accf1f6c4a960a7e5bdde0_1_0_7 in scene [object_manager.py: 1238] +05/27 01:51:02 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 02:01:49 INFO: [Worker 0] Worker 0 house 2891 episode 0 object objamicrophone_343edd0babf743ba9fd43f99182d998d_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 02:01:53 INFO: [Worker 0] Batching and saving trajectory data for house_2891: 1 episodes [pipeline.py: 233] +05/27 02:01:53 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 02:01:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 02:01:55 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2891 [save_utils.py: 703] +05/27 02:01:55 INFO: [Worker 0] Successfully saved trajectory data for house_2891 in 2.45s (batch: 2.36s, save: 0.09s) [pipeline.py: 280] +05/27 02:01:56 WARNING: [Worker 0] No trajectory data to save for house_2891 [pipeline.py: 229] +05/27 02:01:56 INFO: [Worker 0] Worker 0 completed house 2891: 0/1 successful episodes [pipeline.py: 1243] +05/27 02:01:56 INFO: [Worker 0] Worker 0 starting house 3007 (index 29/116) [pipeline.py: 473] +05/27 02:01:56 INFO: [Worker 0] Loaded 1 episodes for house 3007 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 02:01:56 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 02:02:56 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3007_ceiling.xml [task_sampler.py: 797] +05/27 02:02:56 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3007, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 02:02:56 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 02:02:56 INFO: [Worker 0] randomize_scene: Setting poses for 77 objects [json_eval_task_sampler.py: 686] +05/27 02:02:56 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 02:02:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 02:02:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 02:02:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 02:02:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 02:02:56 INFO: [Worker 0] Sampled task 'Pick up the bottleopener and place it next to the pink classical draped relief' [task_sampler.py: 1136] +05/27 02:02:56 INFO: [Worker 0] Worker 0 house 3007 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 02:02:56 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 02:02:56 WARNING: [Worker 0] Could not find object objadecorativeplatform_fb3121509a5143ff852c6f8f2d59f37e_1_0_5 in scene [object_manager.py: 1238] +05/27 02:02:56 WARNING: [Worker 0] Could not find object objaexternaldvddrive_d9b63231980e4719aca47048767062af_1_0_5 in scene [object_manager.py: 1238] +05/27 02:19:48 INFO: [Worker 0] Worker 0 house 3007 episode 0 object objabottleopener_c7783daa48a6466a9ac5f43e8f86db54_2_0_4 completed with success=False [pipeline.py: 1114] +05/27 02:19:52 INFO: [Worker 0] Batching and saving trajectory data for house_3007: 1 episodes [pipeline.py: 233] +05/27 02:19:52 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 02:19:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 02:19:55 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3007 [save_utils.py: 703] +05/27 02:19:55 INFO: [Worker 0] Successfully saved trajectory data for house_3007 in 2.66s (batch: 2.57s, save: 0.09s) [pipeline.py: 280] +05/27 02:19:56 WARNING: [Worker 0] No trajectory data to save for house_3007 [pipeline.py: 229] +05/27 02:19:56 INFO: [Worker 0] Worker 0 completed house 3007: 0/1 successful episodes [pipeline.py: 1243] +05/27 02:19:56 INFO: [Worker 0] Worker 0 starting house 3120 (index 30/116) [pipeline.py: 473] +05/27 02:19:56 INFO: [Worker 0] Loaded 1 episodes for house 3120 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 02:19:56 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 02:20:00 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3120_ceiling.xml [task_sampler.py: 797] +05/27 02:20:00 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3120, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 02:20:00 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 02:20:00 INFO: [Worker 0] randomize_scene: Setting poses for 49 objects [json_eval_task_sampler.py: 686] +05/27 02:20:00 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 02:20:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 02:20:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 02:20:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 02:20:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 02:20:00 INFO: [Worker 0] Sampled task 'Pick up the green bullet and place it next to the bronze full-figured statue' [task_sampler.py: 1136] +05/27 02:20:00 INFO: [Worker 0] Worker 0 house 3120 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 02:20:00 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 02:21:36 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 02:31:54 INFO: [Worker 0] Worker 0 house 3120 episode 0 object objaammunition_ac0cb85fdde046fc96e11a80a224fe3f_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 02:31:58 INFO: [Worker 0] Batching and saving trajectory data for house_3120: 1 episodes [pipeline.py: 233] +05/27 02:31:58 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 02:32:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 02:32:00 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3120 [save_utils.py: 703] +05/27 02:32:00 INFO: [Worker 0] Successfully saved trajectory data for house_3120 in 2.67s (batch: 2.58s, save: 0.09s) [pipeline.py: 280] +05/27 02:32:01 WARNING: [Worker 0] No trajectory data to save for house_3120 [pipeline.py: 229] +05/27 02:32:01 INFO: [Worker 0] Worker 0 completed house 3120: 0/1 successful episodes [pipeline.py: 1243] +05/27 02:32:01 INFO: [Worker 0] Worker 0 starting house 3216 (index 31/116) [pipeline.py: 473] +05/27 02:32:01 INFO: [Worker 0] Loaded 1 episodes for house 3216 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 02:32:01 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 02:32:05 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3216_ceiling.xml [task_sampler.py: 797] +05/27 02:32:05 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3216, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 02:32:05 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 02:32:05 INFO: [Worker 0] randomize_scene: Setting poses for 60 objects [json_eval_task_sampler.py: 686] +05/27 02:32:05 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 02:32:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 02:32:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 02:32:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 02:32:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 02:32:05 INFO: [Worker 0] Sampled task 'Pick up the piece and place it next to the vintage radio with wooden exterior' [task_sampler.py: 1136] +05/27 02:32:05 INFO: [Worker 0] Worker 0 house 3216 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 02:32:05 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 02:32:05 WARNING: [Worker 0] Could not find object pencil_2c624e64d6f8a208a3a089ad77d16aa1_1_0_9 in scene [object_manager.py: 1238] +05/27 02:33:40 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 02:44:43 INFO: [Worker 0] Worker 0 house 3216 episode 0 object objadecorativepiece_1eaddffbb80f408992ee3ade39ff9b5d_1_0_8 completed with success=False [pipeline.py: 1114] +05/27 02:44:46 INFO: [Worker 0] Batching and saving trajectory data for house_3216: 1 episodes [pipeline.py: 233] +05/27 02:44:46 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 02:44:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 02:44:49 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3216 [save_utils.py: 703] +05/27 02:44:49 INFO: [Worker 0] Successfully saved trajectory data for house_3216 in 2.42s (batch: 2.33s, save: 0.09s) [pipeline.py: 280] +05/27 02:44:49 WARNING: [Worker 0] No trajectory data to save for house_3216 [pipeline.py: 229] +05/27 02:44:49 INFO: [Worker 0] Worker 0 completed house 3216: 0/1 successful episodes [pipeline.py: 1243] +05/27 02:44:49 INFO: [Worker 0] Worker 0 starting house 3272 (index 32/116) [pipeline.py: 473] +05/27 02:44:49 INFO: [Worker 0] Loaded 1 episodes for house 3272 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 02:44:49 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 02:44:55 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3272_ceiling.xml [task_sampler.py: 797] +05/27 02:44:55 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3272, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 02:44:55 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 02:44:55 INFO: [Worker 0] randomize_scene: Setting poses for 68 objects [json_eval_task_sampler.py: 686] +05/27 02:44:55 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 02:44:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 02:44:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 02:44:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 02:44:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 02:44:55 INFO: [Worker 0] Sampled task 'Pick up the green nameplate and place it next to the blue spray bottle with nozzle' [task_sampler.py: 1136] +05/27 02:44:55 INFO: [Worker 0] Worker 0 house 3272 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 02:44:55 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 02:46:32 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 02:48:10 INFO: [Worker 0] Worker 0 house 3272 episode 0 object objadecorativenameplate_6ad8389d9e8d4d85ae6020f936381819_1_0_8 completed with success=False [pipeline.py: 1114] +05/27 02:48:14 INFO: [Worker 0] Batching and saving trajectory data for house_3272: 1 episodes [pipeline.py: 233] +05/27 02:48:14 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 02:48:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 02:48:16 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3272 [save_utils.py: 703] +05/27 02:48:16 INFO: [Worker 0] Successfully saved trajectory data for house_3272 in 2.66s (batch: 2.58s, save: 0.09s) [pipeline.py: 280] +05/27 02:48:17 WARNING: [Worker 0] No trajectory data to save for house_3272 [pipeline.py: 229] +05/27 02:48:17 INFO: [Worker 0] Worker 0 completed house 3272: 0/1 successful episodes [pipeline.py: 1243] +05/27 02:48:17 INFO: [Worker 0] Worker 0 starting house 3331 (index 33/116) [pipeline.py: 473] +05/27 02:48:17 INFO: [Worker 0] Loaded 1 episodes for house 3331 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 02:48:17 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 02:48:36 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3331_ceiling.xml [task_sampler.py: 797] +05/27 02:48:36 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3331, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 02:48:36 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 02:48:36 INFO: [Worker 0] randomize_scene: Setting poses for 107 objects [json_eval_task_sampler.py: 686] +05/27 02:48:36 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 02:48:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 02:48:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 02:48:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 02:48:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 02:48:36 INFO: [Worker 0] Sampled task 'Pick up the round dark hanging pot with kernels and place it next to the bowl' [task_sampler.py: 1136] +05/27 02:48:36 INFO: [Worker 0] Worker 0 house 3331 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 02:48:36 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 02:50:17 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 03:12:04 INFO: [Worker 0] Worker 0 house 3331 episode 0 object objahangingpot_079f67e3d21b4559a5ef90f538d130ab_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 03:12:07 INFO: [Worker 0] Batching and saving trajectory data for house_3331: 1 episodes [pipeline.py: 233] +05/27 03:12:07 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 03:12:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 03:12:10 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3331 [save_utils.py: 703] +05/27 03:12:10 INFO: [Worker 0] Successfully saved trajectory data for house_3331 in 2.42s (batch: 2.33s, save: 0.09s) [pipeline.py: 280] +05/27 03:12:10 WARNING: [Worker 0] No trajectory data to save for house_3331 [pipeline.py: 229] +05/27 03:12:10 INFO: [Worker 0] Worker 0 completed house 3331: 0/1 successful episodes [pipeline.py: 1243] +05/27 03:12:10 INFO: [Worker 0] Worker 0 starting house 3400 (index 34/116) [pipeline.py: 473] +05/27 03:12:10 INFO: [Worker 0] Loaded 1 episodes for house 3400 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 03:12:10 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 03:12:15 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3400_ceiling.xml [task_sampler.py: 797] +05/27 03:12:15 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3400, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 03:12:15 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 03:12:15 INFO: [Worker 0] randomize_scene: Setting poses for 52 objects [json_eval_task_sampler.py: 686] +05/27 03:12:15 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 03:12:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 03:12:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 03:12:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 03:12:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 03:12:15 INFO: [Worker 0] Sampled task 'Pick up the circular stone disc with hole and place it next to the portable computer' [task_sampler.py: 1136] +05/27 03:12:15 INFO: [Worker 0] Worker 0 house 3400 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 03:12:15 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 03:25:16 INFO: [Worker 0] Worker 0 house 3400 episode 0 object objastonedisc_bb31ba58de6e457aa1251a63ede16de2_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 03:25:20 INFO: [Worker 0] Batching and saving trajectory data for house_3400: 1 episodes [pipeline.py: 233] +05/27 03:25:20 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 03:25:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 03:25:23 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3400 [save_utils.py: 703] +05/27 03:25:23 INFO: [Worker 0] Successfully saved trajectory data for house_3400 in 2.78s (batch: 2.69s, save: 0.09s) [pipeline.py: 280] +05/27 03:25:23 WARNING: [Worker 0] No trajectory data to save for house_3400 [pipeline.py: 229] +05/27 03:25:23 INFO: [Worker 0] Worker 0 completed house 3400: 0/1 successful episodes [pipeline.py: 1243] +05/27 03:25:23 INFO: [Worker 0] Worker 0 starting house 3483 (index 35/116) [pipeline.py: 473] +05/27 03:25:23 INFO: [Worker 0] Loaded 1 episodes for house 3483 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 03:25:23 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 03:25:25 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/27 03:25:30 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3483_ceiling.xml [task_sampler.py: 797] +05/27 03:25:30 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3483, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 03:25:30 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 03:25:30 INFO: [Worker 0] randomize_scene: Setting poses for 85 objects [json_eval_task_sampler.py: 686] +05/27 03:25:30 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 03:25:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 03:25:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 03:25:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 03:25:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 03:25:30 INFO: [Worker 0] Sampled task 'Pick up the white playing card with black skull and place it next to the rectangular dark gray tufted pillow' [task_sampler.py: 1136] +05/27 03:25:30 INFO: [Worker 0] Worker 0 house 3483 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 03:25:30 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 03:25:30 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_2 in scene [object_manager.py: 1238] +05/27 03:31:28 INFO: [Worker 0] Worker 0 house 3483 episode 0 object objaplayingcard_dbdcf0441e0e442b912c0b47703eb4fc_1_0_4 completed with success=True [pipeline.py: 1114] +05/27 03:31:32 INFO: [Worker 0] Batching and saving trajectory data for house_3483: 1 episodes [pipeline.py: 233] +05/27 03:31:32 INFO: [Worker 0] Preparing episode data: 138 timesteps [save_utils.py: 284] +05/27 03:31:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 03:31:34 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3483 [save_utils.py: 703] +05/27 03:31:34 INFO: [Worker 0] Successfully saved trajectory data for house_3483 in 2.19s (batch: 2.14s, save: 0.05s) [pipeline.py: 280] +05/27 03:31:34 WARNING: [Worker 0] No trajectory data to save for house_3483 [pipeline.py: 229] +05/27 03:31:34 INFO: [Worker 0] Worker 0 completed house 3483: 1/1 successful episodes [pipeline.py: 1243] +05/27 03:31:34 INFO: [Worker 0] Worker 0 starting house 3537 (index 36/116) [pipeline.py: 473] +05/27 03:31:34 INFO: [Worker 0] Loaded 1 episodes for house 3537 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 03:31:34 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 03:31:37 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3537_ceiling.xml [task_sampler.py: 797] +05/27 03:31:37 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3537, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 03:31:37 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 03:31:37 INFO: [Worker 0] randomize_scene: Setting poses for 50 objects [json_eval_task_sampler.py: 686] +05/27 03:31:37 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 03:31:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 03:31:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 03:31:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 03:31:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 03:31:37 INFO: [Worker 0] Sampled task 'Pick up the metal clamp holding dark stone and place it next to the dark glossy hardcover book' [task_sampler.py: 1136] +05/27 03:31:37 INFO: [Worker 0] Worker 0 house 3537 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 03:31:37 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 03:31:37 WARNING: [Worker 0] Could not find object objawebcam_c5f7acd4d05842b0a604d37b3716be17_1_0_7 in scene [object_manager.py: 1238] +05/27 03:33:13 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 03:42:24 INFO: [Worker 0] Worker 0 house 3537 episode 0 object objaclamp_989a7a2db76a4ee08d924117f258e4eb_2_0_2 completed with success=False [pipeline.py: 1114] +05/27 03:42:28 INFO: [Worker 0] Batching and saving trajectory data for house_3537: 1 episodes [pipeline.py: 233] +05/27 03:42:28 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 03:42:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 03:42:30 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3537 [save_utils.py: 703] +05/27 03:42:30 INFO: [Worker 0] Successfully saved trajectory data for house_3537 in 2.74s (batch: 2.65s, save: 0.09s) [pipeline.py: 280] +05/27 03:42:31 WARNING: [Worker 0] No trajectory data to save for house_3537 [pipeline.py: 229] +05/27 03:42:31 INFO: [Worker 0] Worker 0 completed house 3537: 0/1 successful episodes [pipeline.py: 1243] +05/27 03:42:31 INFO: [Worker 0] Worker 0 starting house 3610 (index 37/116) [pipeline.py: 473] +05/27 03:42:31 INFO: [Worker 0] Loaded 2 episodes for house 3610 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 03:42:31 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 03:42:34 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3610_ceiling.xml [task_sampler.py: 797] +05/27 03:42:34 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3610, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 03:42:34 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 03:42:34 INFO: [Worker 0] randomize_scene: Setting poses for 49 objects [json_eval_task_sampler.py: 686] +05/27 03:42:34 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 03:42:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 03:42:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 03:42:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 03:42:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 03:42:34 INFO: [Worker 0] Sampled task 'Pick up the tall slender brown wooden bottle and place it next to the bronze full-figured statue' [task_sampler.py: 1136] +05/27 03:42:34 INFO: [Worker 0] Worker 0 house 3610 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/27 03:42:35 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 03:44:09 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 03:55:08 INFO: [Worker 0] Worker 0 house 3610 episode 0 object objadecorativebottle_7c356add4b0545759c69e94f6da537b7_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 03:55:11 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 03:55:15 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3610_ceiling.xml [task_sampler.py: 797] +05/27 03:55:15 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3610, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 03:55:15 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 03:55:15 INFO: [Worker 0] randomize_scene: Setting poses for 49 objects [json_eval_task_sampler.py: 686] +05/27 03:55:15 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 03:55:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 03:55:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 03:55:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 03:55:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 03:55:15 INFO: [Worker 0] Sampled task 'Pick up the small gray bird with orange beak and place it next to the medium smooth red apple' [task_sampler.py: 1136] +05/27 03:55:15 INFO: [Worker 0] Worker 0 house 3610 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/27 03:55:15 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 03:56:54 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 04:08:03 INFO: [Worker 0] Worker 0 house 3610 episode 1 object objadecorativebird_7914020e993b48ea8385579ee35b111c_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 04:08:07 INFO: [Worker 0] Batching and saving trajectory data for house_3610: 2 episodes [pipeline.py: 233] +05/27 04:08:07 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 04:08:09 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 04:08:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 04:08:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 04:08:12 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3610 [save_utils.py: 703] +05/27 04:08:12 INFO: [Worker 0] Successfully saved trajectory data for house_3610 in 5.04s (batch: 4.86s, save: 0.18s) [pipeline.py: 280] +05/27 04:08:12 WARNING: [Worker 0] No trajectory data to save for house_3610 [pipeline.py: 229] +05/27 04:08:12 INFO: [Worker 0] Worker 0 completed house 3610: 0/2 successful episodes [pipeline.py: 1243] +05/27 04:08:12 INFO: [Worker 0] Worker 0 starting house 3656 (index 38/116) [pipeline.py: 473] +05/27 04:08:12 INFO: [Worker 0] Loaded 1 episodes for house 3656 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 04:08:12 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 04:08:18 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3656_ceiling.xml [task_sampler.py: 797] +05/27 04:08:18 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3656, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 04:08:18 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 04:08:18 INFO: [Worker 0] randomize_scene: Setting poses for 74 objects [json_eval_task_sampler.py: 686] +05/27 04:08:18 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 04:08:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 04:08:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 04:08:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 04:08:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 04:08:18 INFO: [Worker 0] Sampled task 'Pick up the glossy red tomato with stem and place it next to the gold vase' [task_sampler.py: 1136] +05/27 04:08:18 INFO: [Worker 0] Worker 0 house 3656 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 04:08:18 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 04:09:53 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 04:24:03 INFO: [Worker 0] Worker 0 house 3656 episode 0 object objatomato_01e9b3bcc92545f1a2fd713c11cbc4c9_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 04:24:07 INFO: [Worker 0] Batching and saving trajectory data for house_3656: 1 episodes [pipeline.py: 233] +05/27 04:24:07 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 04:24:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 04:24:09 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3656 [save_utils.py: 703] +05/27 04:24:09 INFO: [Worker 0] Successfully saved trajectory data for house_3656 in 2.70s (batch: 2.61s, save: 0.09s) [pipeline.py: 280] +05/27 04:24:10 WARNING: [Worker 0] No trajectory data to save for house_3656 [pipeline.py: 229] +05/27 04:24:10 INFO: [Worker 0] Worker 0 completed house 3656: 0/1 successful episodes [pipeline.py: 1243] +05/27 04:24:10 INFO: [Worker 0] Worker 0 starting house 3748 (index 39/116) [pipeline.py: 473] +05/27 04:24:10 INFO: [Worker 0] Loaded 1 episodes for house 3748 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 04:24:10 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 04:24:19 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3748_ceiling.xml [task_sampler.py: 797] +05/27 04:24:19 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3748, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 04:24:19 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 04:24:19 INFO: [Worker 0] randomize_scene: Setting poses for 57 objects [json_eval_task_sampler.py: 686] +05/27 04:24:19 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 04:24:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 04:24:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 04:24:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 04:24:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 04:24:19 INFO: [Worker 0] Sampled task 'Pick up the rectangular metallic effects pedal and place it next to the slideprojector' [task_sampler.py: 1136] +05/27 04:24:19 INFO: [Worker 0] Worker 0 house 3748 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 04:24:19 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 04:26:02 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 04:38:07 INFO: [Worker 0] Worker 0 house 3748 episode 0 object objaguitareffectspedal_8c6e5265f19b49709119c2628c2bdf3f_2_0_3 completed with success=False [pipeline.py: 1114] +05/27 04:38:10 INFO: [Worker 0] Batching and saving trajectory data for house_3748: 1 episodes [pipeline.py: 233] +05/27 04:38:10 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 04:38:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 04:38:13 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3748 [save_utils.py: 703] +05/27 04:38:13 INFO: [Worker 0] Successfully saved trajectory data for house_3748 in 2.41s (batch: 2.32s, save: 0.09s) [pipeline.py: 280] +05/27 04:38:13 WARNING: [Worker 0] No trajectory data to save for house_3748 [pipeline.py: 229] +05/27 04:38:13 INFO: [Worker 0] Worker 0 completed house 3748: 0/1 successful episodes [pipeline.py: 1243] +05/27 04:38:13 INFO: [Worker 0] Worker 0 starting house 3864 (index 40/116) [pipeline.py: 473] +05/27 04:38:13 INFO: [Worker 0] Loaded 1 episodes for house 3864 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 04:38:13 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 04:38:22 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3864_ceiling.xml [task_sampler.py: 797] +05/27 04:38:22 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3864, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 04:38:22 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 04:38:22 INFO: [Worker 0] randomize_scene: Setting poses for 49 objects [json_eval_task_sampler.py: 686] +05/27 04:38:22 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 04:38:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 04:38:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 04:38:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 04:38:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 04:38:22 INFO: [Worker 0] Sampled task 'Pick up the orange cylindrical medicine bottle with label and place it next to the soap bottle' [task_sampler.py: 1136] +05/27 04:38:22 INFO: [Worker 0] Worker 0 house 3864 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 04:38:22 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 04:39:57 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 04:52:09 INFO: [Worker 0] Worker 0 house 3864 episode 0 object objapillbottle_c570abc36b9a4fb1bf5b1aaf4c9c812f_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 04:52:13 INFO: [Worker 0] Batching and saving trajectory data for house_3864: 1 episodes [pipeline.py: 233] +05/27 04:52:13 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 04:52:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 04:52:15 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3864 [save_utils.py: 703] +05/27 04:52:15 INFO: [Worker 0] Successfully saved trajectory data for house_3864 in 2.48s (batch: 2.38s, save: 0.10s) [pipeline.py: 280] +05/27 04:52:16 WARNING: [Worker 0] No trajectory data to save for house_3864 [pipeline.py: 229] +05/27 04:52:16 INFO: [Worker 0] Worker 0 completed house 3864: 0/1 successful episodes [pipeline.py: 1243] +05/27 04:52:16 INFO: [Worker 0] Worker 0 starting house 3956 (index 41/116) [pipeline.py: 473] +05/27 04:52:16 INFO: [Worker 0] Loaded 1 episodes for house 3956 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 04:52:16 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 04:52:19 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3956_ceiling.xml [task_sampler.py: 797] +05/27 04:52:19 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3956, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 04:52:19 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 04:52:19 INFO: [Worker 0] randomize_scene: Setting poses for 38 objects [json_eval_task_sampler.py: 686] +05/27 04:52:19 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 04:52:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 04:52:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 04:52:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 04:52:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 04:52:19 INFO: [Worker 0] Sampled task 'Pick up the blue bifold wallet with brown interior and place it next to the blue vase' [task_sampler.py: 1136] +05/27 04:52:19 INFO: [Worker 0] Worker 0 house 3956 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 04:52:19 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 04:53:58 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 04:59:36 INFO: [Worker 0] Worker 0 house 3956 episode 0 object objawallet_284753c433144278b333b617615d6b3a_1_0_2 completed with success=True [pipeline.py: 1114] +05/27 04:59:40 INFO: [Worker 0] Batching and saving trajectory data for house_3956: 1 episodes [pipeline.py: 233] +05/27 04:59:40 INFO: [Worker 0] Preparing episode data: 330 timesteps [save_utils.py: 284] +05/27 04:59:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 04:59:43 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3956 [save_utils.py: 703] +05/27 04:59:43 INFO: [Worker 0] Successfully saved trajectory data for house_3956 in 2.66s (batch: 2.59s, save: 0.07s) [pipeline.py: 280] +05/27 04:59:44 WARNING: [Worker 0] No trajectory data to save for house_3956 [pipeline.py: 229] +05/27 04:59:44 INFO: [Worker 0] Worker 0 completed house 3956: 1/1 successful episodes [pipeline.py: 1243] +05/27 04:59:44 INFO: [Worker 0] Worker 0 starting house 4069 (index 42/116) [pipeline.py: 473] +05/27 04:59:44 INFO: [Worker 0] Loaded 1 episodes for house 4069 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 04:59:44 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 05:00:02 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4069_ceiling.xml [task_sampler.py: 797] +05/27 05:00:02 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4069, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 05:00:02 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 05:00:02 INFO: [Worker 0] randomize_scene: Setting poses for 90 objects [json_eval_task_sampler.py: 686] +05/27 05:00:02 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 05:00:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 05:00:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 05:00:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 05:00:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 05:00:02 INFO: [Worker 0] Sampled task 'Pick up the brown dried fish with rough texture and place it next to the bulbous shiny gold vase' [task_sampler.py: 1136] +05/27 05:00:02 INFO: [Worker 0] Worker 0 house 4069 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 05:00:02 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 05:00:02 WARNING: [Worker 0] Could not find object lettuce_a1e5e7e9a0fd5721b75dc053d43ae3cd_1_0_2 in scene [object_manager.py: 1238] +05/27 05:00:02 WARNING: [Worker 0] Could not find object objajewelrydisplay_cb763a3de6e64365955841346d95891c_1_0_5 in scene [object_manager.py: 1238] +05/27 05:00:02 WARNING: [Worker 0] Could not find object objamedicalmask_b52524319c70458db1c3a78f9c096afe_1_0_5 in scene [object_manager.py: 1238] +05/27 05:00:02 WARNING: [Worker 0] Could not find object objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_5 in scene [object_manager.py: 1238] +05/27 05:00:02 WARNING: [Worker 0] Could not find object objatoiletpaper_e79b5660d8c2406d804485257eae6c23_3_0_5 in scene [object_manager.py: 1238] +05/27 05:00:02 WARNING: [Worker 0] Could not find object candle_09223ab74c3b4b8525bb3f1f1bd405c2_2_0_5 in scene [object_manager.py: 1238] +05/27 05:18:20 INFO: [Worker 0] Worker 0 house 4069 episode 0 object objadriedfish_b94ddf2091234161818b07461044cb2f_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 05:18:24 INFO: [Worker 0] Batching and saving trajectory data for house_4069: 1 episodes [pipeline.py: 233] +05/27 05:18:24 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 05:18:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 05:18:27 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4069 [save_utils.py: 703] +05/27 05:18:27 INFO: [Worker 0] Successfully saved trajectory data for house_4069 in 2.71s (batch: 2.62s, save: 0.09s) [pipeline.py: 280] +05/27 05:18:27 WARNING: [Worker 0] No trajectory data to save for house_4069 [pipeline.py: 229] +05/27 05:18:27 INFO: [Worker 0] Worker 0 completed house 4069: 0/1 successful episodes [pipeline.py: 1243] +05/27 05:18:27 INFO: [Worker 0] Worker 0 starting house 4187 (index 43/116) [pipeline.py: 473] +05/27 05:18:27 INFO: [Worker 0] Loaded 1 episodes for house 4187 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 05:18:27 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 05:18:41 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4187_ceiling.xml [task_sampler.py: 797] +05/27 05:18:41 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4187, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 05:18:41 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 05:18:41 INFO: [Worker 0] randomize_scene: Setting poses for 68 objects [json_eval_task_sampler.py: 686] +05/27 05:18:41 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 05:18:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 05:18:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 05:18:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 05:18:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 05:18:41 INFO: [Worker 0] Sampled task 'Pick up the black pan and place it next to the transparent soap bottle' [task_sampler.py: 1136] +05/27 05:18:41 INFO: [Worker 0] Worker 0 house 4187 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 05:18:41 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 05:20:24 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 05:36:15 INFO: [Worker 0] Worker 0 house 4187 episode 0 object cookingpan_2042502e26c8e4aa7f1acb4af74ccc69_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 05:36:18 INFO: [Worker 0] Batching and saving trajectory data for house_4187: 1 episodes [pipeline.py: 233] +05/27 05:36:18 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 05:36:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 05:36:20 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4187 [save_utils.py: 703] +05/27 05:36:20 INFO: [Worker 0] Successfully saved trajectory data for house_4187 in 2.47s (batch: 2.38s, save: 0.09s) [pipeline.py: 280] +05/27 05:36:21 WARNING: [Worker 0] No trajectory data to save for house_4187 [pipeline.py: 229] +05/27 05:36:21 INFO: [Worker 0] Worker 0 completed house 4187: 0/1 successful episodes [pipeline.py: 1243] +05/27 05:36:21 INFO: [Worker 0] Worker 0 starting house 4253 (index 44/116) [pipeline.py: 473] +05/27 05:36:21 INFO: [Worker 0] Loaded 1 episodes for house 4253 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 05:36:21 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 05:36:37 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4253_ceiling.xml [task_sampler.py: 797] +05/27 05:36:37 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4253, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 05:36:37 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 05:36:37 INFO: [Worker 0] randomize_scene: Setting poses for 58 objects [json_eval_task_sampler.py: 686] +05/27 05:36:38 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 05:36:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 05:36:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 05:36:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 05:36:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 05:36:38 INFO: [Worker 0] Sampled task 'Pick up the purple striped paper roll and place it next to the red glove' [task_sampler.py: 1136] +05/27 05:36:38 INFO: [Worker 0] Worker 0 house 4253 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 05:36:38 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 05:36:38 WARNING: [Worker 0] Could not find object objashoe_0ad165ecf7264702b7b805b1d0c3967e_1_0_5 in scene [object_manager.py: 1238] +05/27 05:36:38 WARNING: [Worker 0] Could not find object objacandle_c1c8f8af133d464585c1795735a5f8f0_1_0_5 in scene [object_manager.py: 1238] +05/27 05:38:14 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 05:51:39 INFO: [Worker 0] Worker 0 house 4253 episode 0 object objatoiletpaperroll_afb1da51bd2046a2964742b53eb1b270_1_0_9 completed with success=False [pipeline.py: 1114] +05/27 05:51:43 INFO: [Worker 0] Batching and saving trajectory data for house_4253: 1 episodes [pipeline.py: 233] +05/27 05:51:43 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 05:51:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 05:51:45 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4253 [save_utils.py: 703] +05/27 05:51:45 INFO: [Worker 0] Successfully saved trajectory data for house_4253 in 2.73s (batch: 2.64s, save: 0.09s) [pipeline.py: 280] +05/27 05:51:46 WARNING: [Worker 0] No trajectory data to save for house_4253 [pipeline.py: 229] +05/27 05:51:46 INFO: [Worker 0] Worker 0 completed house 4253: 0/1 successful episodes [pipeline.py: 1243] +05/27 05:51:46 INFO: [Worker 0] Worker 0 starting house 4293 (index 45/116) [pipeline.py: 473] +05/27 05:51:46 INFO: [Worker 0] Loaded 1 episodes for house 4293 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 05:51:46 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 05:51:55 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4293_ceiling.xml [task_sampler.py: 797] +05/27 05:51:55 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4293, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 05:51:55 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 05:51:55 INFO: [Worker 0] randomize_scene: Setting poses for 39 objects [json_eval_task_sampler.py: 686] +05/27 05:51:55 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 05:51:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 05:51:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 05:51:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 05:51:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 05:51:55 INFO: [Worker 0] Sampled task 'Pick up the black electronic keypad with green display and place it next to the yellow glass cutter tool' [task_sampler.py: 1136] +05/27 05:51:55 INFO: [Worker 0] Worker 0 house 4293 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 05:51:55 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 05:53:31 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 06:02:17 INFO: [Worker 0] Worker 0 house 4293 episode 0 object objakeypad_b90b37839bb949bba7c5a6ff2f49d1c8_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 06:02:20 INFO: [Worker 0] Batching and saving trajectory data for house_4293: 1 episodes [pipeline.py: 233] +05/27 06:02:20 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 06:02:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 06:02:23 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4293 [save_utils.py: 703] +05/27 06:02:23 INFO: [Worker 0] Successfully saved trajectory data for house_4293 in 2.71s (batch: 2.62s, save: 0.09s) [pipeline.py: 280] +05/27 06:02:24 WARNING: [Worker 0] No trajectory data to save for house_4293 [pipeline.py: 229] +05/27 06:02:24 INFO: [Worker 0] Worker 0 completed house 4293: 0/1 successful episodes [pipeline.py: 1243] +05/27 06:02:24 INFO: [Worker 0] Worker 0 starting house 4329 (index 46/116) [pipeline.py: 473] +05/27 06:02:24 INFO: [Worker 0] Loaded 1 episodes for house 4329 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 06:02:24 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 06:02:30 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4329_ceiling.xml [task_sampler.py: 797] +05/27 06:02:30 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4329, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 06:02:30 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 06:02:30 INFO: [Worker 0] randomize_scene: Setting poses for 87 objects [json_eval_task_sampler.py: 686] +05/27 06:02:30 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 06:02:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 06:02:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 06:02:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 06:02:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 06:02:30 INFO: [Worker 0] Sampled task 'Pick up the mechanical gauntlet and place it next to the blue glossy ceramic vase' [task_sampler.py: 1136] +05/27 06:02:30 INFO: [Worker 0] Worker 0 house 4329 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 06:02:30 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 06:02:30 WARNING: [Worker 0] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_9 in scene [object_manager.py: 1238] +05/27 06:21:59 INFO: [Worker 0] Worker 0 house 4329 episode 0 object objamechanicalgauntlet_46092034259442ec91346f202fb2393e_2_0_8 completed with success=False [pipeline.py: 1114] +05/27 06:22:02 INFO: [Worker 0] Batching and saving trajectory data for house_4329: 1 episodes [pipeline.py: 233] +05/27 06:22:02 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 06:22:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 06:22:05 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4329 [save_utils.py: 703] +05/27 06:22:05 INFO: [Worker 0] Successfully saved trajectory data for house_4329 in 2.38s (batch: 2.29s, save: 0.09s) [pipeline.py: 280] +05/27 06:22:05 WARNING: [Worker 0] No trajectory data to save for house_4329 [pipeline.py: 229] +05/27 06:22:05 INFO: [Worker 0] Worker 0 completed house 4329: 0/1 successful episodes [pipeline.py: 1243] +05/27 06:22:05 INFO: [Worker 0] Worker 0 starting house 4412 (index 47/116) [pipeline.py: 473] +05/27 06:22:05 INFO: [Worker 0] Loaded 1 episodes for house 4412 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 06:22:05 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 06:22:08 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/27 06:22:11 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4412_ceiling.xml [task_sampler.py: 797] +05/27 06:22:11 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4412, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 06:22:11 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 06:22:11 INFO: [Worker 0] randomize_scene: Setting poses for 50 objects [json_eval_task_sampler.py: 686] +05/27 06:22:11 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 06:22:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 06:22:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 06:22:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 06:22:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 06:22:11 INFO: [Worker 0] Sampled task 'Pick up the glossy green beetle figurine and place it next to the metallic blue laptop' [task_sampler.py: 1136] +05/27 06:22:11 INFO: [Worker 0] Worker 0 house 4412 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 06:22:11 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 06:22:11 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_8 in scene [object_manager.py: 1238] +05/27 06:35:11 INFO: [Worker 0] Worker 0 house 4412 episode 0 object objadecorativeinsect_3d87721214d44cc6986677a844c80499_1_0_9 completed with success=False [pipeline.py: 1114] +05/27 06:35:14 INFO: [Worker 0] Batching and saving trajectory data for house_4412: 1 episodes [pipeline.py: 233] +05/27 06:35:14 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 06:35:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 06:35:17 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4412 [save_utils.py: 703] +05/27 06:35:17 INFO: [Worker 0] Successfully saved trajectory data for house_4412 in 2.73s (batch: 2.64s, save: 0.09s) [pipeline.py: 280] +05/27 06:35:18 WARNING: [Worker 0] No trajectory data to save for house_4412 [pipeline.py: 229] +05/27 06:35:18 INFO: [Worker 0] Worker 0 completed house 4412: 0/1 successful episodes [pipeline.py: 1243] +05/27 06:35:18 INFO: [Worker 0] Worker 0 starting house 4481 (index 48/116) [pipeline.py: 473] +05/27 06:35:18 INFO: [Worker 0] Loaded 2 episodes for house 4481 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 06:35:18 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 06:35:22 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4481_ceiling.xml [task_sampler.py: 797] +05/27 06:35:22 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4481, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 06:35:22 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 06:35:22 INFO: [Worker 0] randomize_scene: Setting poses for 61 objects [json_eval_task_sampler.py: 686] +05/27 06:35:22 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 06:35:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 06:35:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 06:35:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 06:35:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 06:35:22 INFO: [Worker 0] Sampled task 'Pick up the white marble wedge with markings and place it next to the mosaicfragment' [task_sampler.py: 1136] +05/27 06:35:22 INFO: [Worker 0] Worker 0 house 4481 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/27 06:35:22 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 06:36:59 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 06:48:47 INFO: [Worker 0] Worker 0 house 4481 episode 0 object objamarbleslab_7d540d7b25af4e41a58eaeb5037f88a9_1_0_5 completed with success=False [pipeline.py: 1114] +05/27 06:48:51 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 06:48:56 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4481_ceiling.xml [task_sampler.py: 797] +05/27 06:48:56 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4481, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 06:48:56 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 06:48:56 INFO: [Worker 0] randomize_scene: Setting poses for 61 objects [json_eval_task_sampler.py: 686] +05/27 06:48:56 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 06:48:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 06:48:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 06:48:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 06:48:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 06:48:56 INFO: [Worker 0] Sampled task 'Pick up the purple snowman card and place it next to the blue metallic toaster with buttons' [task_sampler.py: 1136] +05/27 06:48:56 INFO: [Worker 0] Worker 0 house 4481 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/27 06:48:56 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 06:50:31 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 07:02:02 INFO: [Worker 0] Worker 0 house 4481 episode 1 object objagreetingcard_99d51751c64749d68d8da3903cb45194_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 07:02:05 INFO: [Worker 0] Batching and saving trajectory data for house_4481: 2 episodes [pipeline.py: 233] +05/27 07:02:05 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 07:02:08 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 07:02:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 07:02:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 07:02:11 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4481 [save_utils.py: 703] +05/27 07:02:11 INFO: [Worker 0] Successfully saved trajectory data for house_4481 in 5.09s (batch: 4.91s, save: 0.18s) [pipeline.py: 280] +05/27 07:02:11 WARNING: [Worker 0] No trajectory data to save for house_4481 [pipeline.py: 229] +05/27 07:02:11 INFO: [Worker 0] Worker 0 completed house 4481: 0/2 successful episodes [pipeline.py: 1243] +05/27 07:02:11 INFO: [Worker 0] Worker 0 starting house 4502 (index 49/116) [pipeline.py: 473] +05/27 07:02:11 INFO: [Worker 0] Loaded 1 episodes for house 4502 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 07:02:11 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 07:02:15 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4502_ceiling.xml [task_sampler.py: 797] +05/27 07:02:15 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4502, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 07:02:15 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 07:02:15 INFO: [Worker 0] randomize_scene: Setting poses for 51 objects [json_eval_task_sampler.py: 686] +05/27 07:02:16 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 07:02:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 07:02:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 07:02:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 07:02:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 07:02:16 INFO: [Worker 0] Sampled task 'Pick up the blue milk carton with branding and place it next to the narwhal skull' [task_sampler.py: 1136] +05/27 07:02:16 INFO: [Worker 0] Worker 0 house 4502 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 07:02:16 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 07:02:16 WARNING: [Worker 0] Could not find object objacleaningsponge_afd092fac12f4ef8984b80d3d15de232_1_0_5 in scene [object_manager.py: 1238] +05/27 07:02:16 WARNING: [Worker 0] Could not find object objaaerosolcan_b6b64dc8ae6049dbba19ae2cef3575bb_1_0_5 in scene [object_manager.py: 1238] +05/27 07:02:16 WARNING: [Worker 0] Could not find object lettuce_78266f6bc320cc73d50a37e54430a582_1_0_6 in scene [object_manager.py: 1238] +05/27 07:15:03 INFO: [Worker 0] Worker 0 house 4502 episode 0 object objamilkcarton_aa9103c0122246f68dd367e640df32bb_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 07:15:07 INFO: [Worker 0] Batching and saving trajectory data for house_4502: 1 episodes [pipeline.py: 233] +05/27 07:15:07 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 07:15:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 07:15:10 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4502 [save_utils.py: 703] +05/27 07:15:10 INFO: [Worker 0] Successfully saved trajectory data for house_4502 in 3.06s (batch: 2.97s, save: 0.09s) [pipeline.py: 280] +05/27 07:15:11 WARNING: [Worker 0] No trajectory data to save for house_4502 [pipeline.py: 229] +05/27 07:15:11 INFO: [Worker 0] Worker 0 completed house 4502: 0/1 successful episodes [pipeline.py: 1243] +05/27 07:15:11 INFO: [Worker 0] Worker 0 starting house 4631 (index 50/116) [pipeline.py: 473] +05/27 07:15:11 INFO: [Worker 0] Loaded 1 episodes for house 4631 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 07:15:11 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 07:15:19 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4631_ceiling.xml [task_sampler.py: 797] +05/27 07:15:19 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4631, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 07:15:19 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 07:15:19 INFO: [Worker 0] randomize_scene: Setting poses for 51 objects [json_eval_task_sampler.py: 686] +05/27 07:15:19 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 07:15:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 07:15:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 07:15:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 07:15:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 07:15:19 INFO: [Worker 0] Sampled task 'Pick up the dark gray keypad with numbers and place it next to the traditional wooden rubber stamp with metal' [task_sampler.py: 1136] +05/27 07:15:19 INFO: [Worker 0] Worker 0 house 4631 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 07:15:19 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 07:15:19 WARNING: [Worker 0] Could not find object objamedicalmask_b52524319c70458db1c3a78f9c096afe_1_0_5 in scene [object_manager.py: 1238] +05/27 07:15:19 WARNING: [Worker 0] Could not find object objaguitareffectspedal_083eb9b9eb564701820d3a79377c77ce_1_0_5 in scene [object_manager.py: 1238] +05/27 07:15:19 WARNING: [Worker 0] Could not find object objacleaningsponge_97aee64edf0c4521b82416f3b30c61ce_1_0_5 in scene [object_manager.py: 1238] +05/27 07:15:19 WARNING: [Worker 0] Could not find object candle_1b82c5d62bcdb9c9e0fbc639fdc9e22a_1_0_5 in scene [object_manager.py: 1238] +05/27 07:30:01 INFO: [Worker 0] Worker 0 house 4631 episode 0 object objakeypad_5ec36e995dd94222a1fd26b112b65cd2_2_0_6 completed with success=False [pipeline.py: 1114] +05/27 07:30:05 INFO: [Worker 0] Batching and saving trajectory data for house_4631: 1 episodes [pipeline.py: 233] +05/27 07:30:05 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 07:30:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 07:30:08 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4631 [save_utils.py: 703] +05/27 07:30:08 INFO: [Worker 0] Successfully saved trajectory data for house_4631 in 2.71s (batch: 2.63s, save: 0.09s) [pipeline.py: 280] +05/27 07:30:08 WARNING: [Worker 0] No trajectory data to save for house_4631 [pipeline.py: 229] +05/27 07:30:08 INFO: [Worker 0] Worker 0 completed house 4631: 0/1 successful episodes [pipeline.py: 1243] +05/27 07:30:08 INFO: [Worker 0] Worker 0 starting house 4684 (index 51/116) [pipeline.py: 473] +05/27 07:30:08 INFO: [Worker 0] Loaded 1 episodes for house 4684 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 07:30:08 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 07:30:23 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4684_ceiling.xml [task_sampler.py: 797] +05/27 07:30:23 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4684, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 07:30:23 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 07:30:23 INFO: [Worker 0] randomize_scene: Setting poses for 90 objects [json_eval_task_sampler.py: 686] +05/27 07:30:23 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 07:30:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 07:30:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 07:30:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 07:30:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 07:30:23 INFO: [Worker 0] Sampled task 'Pick up the wooden house keyholder and place it next to the realistic pink gradient starfish model' [task_sampler.py: 1136] +05/27 07:30:23 INFO: [Worker 0] Worker 0 house 4684 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 07:30:23 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 07:32:02 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 07:48:52 INFO: [Worker 0] Worker 0 house 4684 episode 0 object objakeyholder_7e8733261a034ef5b0302f1ee2fe2554_1_0_3 completed with success=True [pipeline.py: 1114] +05/27 07:48:55 INFO: [Worker 0] Batching and saving trajectory data for house_4684: 1 episodes [pipeline.py: 233] +05/27 07:48:55 INFO: [Worker 0] Preparing episode data: 432 timesteps [save_utils.py: 284] +05/27 07:48:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 07:48:58 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4684 [save_utils.py: 703] +05/27 07:48:58 INFO: [Worker 0] Successfully saved trajectory data for house_4684 in 2.35s (batch: 2.27s, save: 0.09s) [pipeline.py: 280] +05/27 07:48:58 WARNING: [Worker 0] No trajectory data to save for house_4684 [pipeline.py: 229] +05/27 07:48:58 INFO: [Worker 0] Worker 0 completed house 4684: 1/1 successful episodes [pipeline.py: 1243] +05/27 07:48:58 INFO: [Worker 0] Worker 0 starting house 4728 (index 52/116) [pipeline.py: 473] +05/27 07:48:58 INFO: [Worker 0] Loaded 1 episodes for house 4728 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 07:48:58 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 07:49:01 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/27 07:49:05 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4728_ceiling.xml [task_sampler.py: 797] +05/27 07:49:05 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4728, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 07:49:05 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 07:49:05 INFO: [Worker 0] randomize_scene: Setting poses for 93 objects [json_eval_task_sampler.py: 686] +05/27 07:49:05 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 07:49:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 07:49:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 07:49:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 07:49:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 07:49:05 INFO: [Worker 0] Sampled task 'Pick up the smoothing iron and place it next to the handheld white and orange tape dispenser' [task_sampler.py: 1136] +05/27 07:49:05 INFO: [Worker 0] Worker 0 house 4728 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 07:49:05 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 07:49:06 WARNING: [Worker 0] Could not find object objamultitool_8e4f71b51ecc41488c0bd05491217797_1_0_2 in scene [object_manager.py: 1238] +05/27 07:49:06 WARNING: [Worker 0] Could not find object Irishpotato_19394b332cf16c9d218c9f434ecf9c48_1_0_2 in scene [object_manager.py: 1238] +05/27 07:49:06 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene [object_manager.py: 1238] +05/27 07:50:45 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 08:09:52 INFO: [Worker 0] Worker 0 house 4728 episode 0 object objavintageiron_187871edbc5e40d8a75a4b654ce32146_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 08:09:56 INFO: [Worker 0] Batching and saving trajectory data for house_4728: 1 episodes [pipeline.py: 233] +05/27 08:09:56 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 08:09:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 08:09:58 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4728 [save_utils.py: 703] +05/27 08:09:58 INFO: [Worker 0] Successfully saved trajectory data for house_4728 in 2.48s (batch: 2.39s, save: 0.09s) [pipeline.py: 280] +05/27 08:09:59 WARNING: [Worker 0] No trajectory data to save for house_4728 [pipeline.py: 229] +05/27 08:09:59 INFO: [Worker 0] Worker 0 completed house 4728: 0/1 successful episodes [pipeline.py: 1243] +05/27 08:09:59 INFO: [Worker 0] Worker 0 starting house 4811 (index 53/116) [pipeline.py: 473] +05/27 08:09:59 INFO: [Worker 0] Loaded 1 episodes for house 4811 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 08:09:59 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 08:10:02 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4811_ceiling.xml [task_sampler.py: 797] +05/27 08:10:02 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4811, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 08:10:02 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 08:10:02 INFO: [Worker 0] randomize_scene: Setting poses for 41 objects [json_eval_task_sampler.py: 686] +05/27 08:10:02 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 08:10:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 08:10:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 08:10:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 08:10:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 08:10:02 INFO: [Worker 0] Sampled task 'Pick up the realistic yellow striped wasp and place it next to the rustic carved wooden block' [task_sampler.py: 1136] +05/27 08:10:02 INFO: [Worker 0] Worker 0 house 4811 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 08:10:02 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 08:11:42 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 08:21:41 INFO: [Worker 0] Worker 0 house 4811 episode 0 object objainsect_2a266405e9044b5495cf55b7298c757b_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 08:21:45 INFO: [Worker 0] Batching and saving trajectory data for house_4811: 1 episodes [pipeline.py: 233] +05/27 08:21:45 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 08:21:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 08:21:48 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4811 [save_utils.py: 703] +05/27 08:21:48 INFO: [Worker 0] Successfully saved trajectory data for house_4811 in 2.78s (batch: 2.69s, save: 0.09s) [pipeline.py: 280] +05/27 08:21:48 WARNING: [Worker 0] No trajectory data to save for house_4811 [pipeline.py: 229] +05/27 08:21:48 INFO: [Worker 0] Worker 0 completed house 4811: 0/1 successful episodes [pipeline.py: 1243] +05/27 08:21:48 INFO: [Worker 0] Worker 0 starting house 4883 (index 54/116) [pipeline.py: 473] +05/27 08:21:48 INFO: [Worker 0] Loaded 1 episodes for house 4883 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 08:21:48 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 08:21:52 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4883_ceiling.xml [task_sampler.py: 797] +05/27 08:21:52 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4883, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 08:21:52 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 08:21:52 INFO: [Worker 0] randomize_scene: Setting poses for 20 objects [json_eval_task_sampler.py: 686] +05/27 08:21:52 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 08:21:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 08:21:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 08:21:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 08:21:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 08:21:52 INFO: [Worker 0] Sampled task 'Pick up the blue bifold wallet with brown interior and place it next to the glossy black dog statue sitting' [task_sampler.py: 1136] +05/27 08:21:52 INFO: [Worker 0] Worker 0 house 4883 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 08:21:52 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 08:23:37 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 08:30:58 INFO: [Worker 0] Worker 0 house 4883 episode 0 object objawallet_284753c433144278b333b617615d6b3a_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 08:31:02 INFO: [Worker 0] Batching and saving trajectory data for house_4883: 1 episodes [pipeline.py: 233] +05/27 08:31:02 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 08:31:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 08:31:05 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4883 [save_utils.py: 703] +05/27 08:31:05 INFO: [Worker 0] Successfully saved trajectory data for house_4883 in 2.72s (batch: 2.63s, save: 0.09s) [pipeline.py: 280] +05/27 08:31:05 WARNING: [Worker 0] No trajectory data to save for house_4883 [pipeline.py: 229] +05/27 08:31:05 INFO: [Worker 0] Worker 0 completed house 4883: 0/1 successful episodes [pipeline.py: 1243] +05/27 08:31:05 INFO: [Worker 0] Worker 0 starting house 4981 (index 55/116) [pipeline.py: 473] +05/27 08:31:05 INFO: [Worker 0] Loaded 1 episodes for house 4981 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 08:31:05 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 08:31:06 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4981_ceiling.xml [task_sampler.py: 797] +05/27 08:31:06 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4981, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 08:31:06 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 08:31:06 INFO: [Worker 0] randomize_scene: Setting poses for 9 objects [json_eval_task_sampler.py: 686] +05/27 08:31:06 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 08:31:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 08:31:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 08:31:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 08:31:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 08:31:07 INFO: [Worker 0] Sampled task 'Pick up the device and place it next to the cream horseshoe neck pillow' [task_sampler.py: 1136] +05/27 08:31:07 INFO: [Worker 0] Worker 0 house 4981 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 08:31:07 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 08:37:24 INFO: [Worker 0] Worker 0 house 4981 episode 0 object objaopticaldevice_03c6cfba0c13448faef5a7149bf7be86_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 08:37:27 INFO: [Worker 0] Batching and saving trajectory data for house_4981: 1 episodes [pipeline.py: 233] +05/27 08:37:27 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 08:37:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 08:37:30 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4981 [save_utils.py: 703] +05/27 08:37:30 INFO: [Worker 0] Successfully saved trajectory data for house_4981 in 2.66s (batch: 2.58s, save: 0.09s) [pipeline.py: 280] +05/27 08:37:31 WARNING: [Worker 0] No trajectory data to save for house_4981 [pipeline.py: 229] +05/27 08:37:31 INFO: [Worker 0] Worker 0 completed house 4981: 0/1 successful episodes [pipeline.py: 1243] +05/27 08:37:31 INFO: [Worker 0] Worker 0 starting house 5101 (index 56/116) [pipeline.py: 473] +05/27 08:37:31 INFO: [Worker 0] Loaded 1 episodes for house 5101 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 08:37:31 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 08:37:44 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5101_ceiling.xml [task_sampler.py: 797] +05/27 08:37:44 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5101, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 08:37:44 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 08:37:44 INFO: [Worker 0] randomize_scene: Setting poses for 40 objects [json_eval_task_sampler.py: 686] +05/27 08:37:44 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 08:37:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 08:37:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 08:37:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 08:37:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 08:37:44 INFO: [Worker 0] Sampled task 'Pick up the electricaltransformer and place it next to the smooth white ceramic serving bowl' [task_sampler.py: 1136] +05/27 08:37:44 INFO: [Worker 0] Worker 0 house 5101 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 08:37:44 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 08:39:19 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 08:44:16 INFO: [Worker 0] Worker 0 house 5101 episode 0 object objaelectricaltransformer_6f46f585edac4aeca9634f6ec1f6ead0_2_0_7 completed with success=False [pipeline.py: 1114] +05/27 08:44:20 INFO: [Worker 0] Batching and saving trajectory data for house_5101: 1 episodes [pipeline.py: 233] +05/27 08:44:20 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 08:44:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 08:44:22 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5101 [save_utils.py: 703] +05/27 08:44:22 INFO: [Worker 0] Successfully saved trajectory data for house_5101 in 2.48s (batch: 2.39s, save: 0.09s) [pipeline.py: 280] +05/27 08:44:23 WARNING: [Worker 0] No trajectory data to save for house_5101 [pipeline.py: 229] +05/27 08:44:23 INFO: [Worker 0] Worker 0 completed house 5101: 0/1 successful episodes [pipeline.py: 1243] +05/27 08:44:23 INFO: [Worker 0] Worker 0 starting house 5180 (index 57/116) [pipeline.py: 473] +05/27 08:44:23 INFO: [Worker 0] Loaded 1 episodes for house 5180 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 08:44:23 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 08:44:30 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5180_ceiling.xml [task_sampler.py: 797] +05/27 08:44:30 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5180, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 08:44:30 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 08:44:30 INFO: [Worker 0] randomize_scene: Setting poses for 54 objects [json_eval_task_sampler.py: 686] +05/27 08:44:30 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 08:44:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 08:44:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 08:44:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 08:44:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 08:44:30 INFO: [Worker 0] Sampled task 'Pick up the rusty ring and place it next to the golden mace with black handle' [task_sampler.py: 1136] +05/27 08:44:30 INFO: [Worker 0] Worker 0 house 5180 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 08:44:30 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 08:44:31 WARNING: [Worker 0] Could not find object objawoodlog_46bf60dedb084261b4ac8021a6d49f7d_1_0_2 in scene [object_manager.py: 1238] +05/27 08:44:31 WARNING: [Worker 0] Could not find object objadecorativespike_e18633481a8b45608e19accc3c0e58a3_1_0_2 in scene [object_manager.py: 1238] +05/27 08:44:31 WARNING: [Worker 0] Could not find object objadecorativecoil_ca64528b5f7b4a8092a2583ad8c7d929_1_0_5 in scene [object_manager.py: 1238] +05/27 08:44:31 WARNING: [Worker 0] Could not find object objaheadband_a45e0fe1df584ab4b49c35ef88bd90b0_1_0_5 in scene [object_manager.py: 1238] +05/27 08:57:10 INFO: [Worker 0] Worker 0 house 5180 episode 0 object objametalring_f7a6369d6e9b4465a085d8e00690d956_1_0_3 completed with success=False [pipeline.py: 1114] +05/27 08:57:13 INFO: [Worker 0] Batching and saving trajectory data for house_5180: 1 episodes [pipeline.py: 233] +05/27 08:57:13 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 08:57:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 08:57:15 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5180 [save_utils.py: 703] +05/27 08:57:15 INFO: [Worker 0] Successfully saved trajectory data for house_5180 in 2.45s (batch: 2.36s, save: 0.09s) [pipeline.py: 280] +05/27 08:57:16 WARNING: [Worker 0] No trajectory data to save for house_5180 [pipeline.py: 229] +05/27 08:57:16 INFO: [Worker 0] Worker 0 completed house 5180: 0/1 successful episodes [pipeline.py: 1243] +05/27 08:57:16 INFO: [Worker 0] Worker 0 starting house 5219 (index 58/116) [pipeline.py: 473] +05/27 08:57:16 INFO: [Worker 0] Loaded 1 episodes for house 5219 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 08:57:16 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 08:57:20 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5219_ceiling.xml [task_sampler.py: 797] +05/27 08:57:20 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5219, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 08:57:20 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 08:57:20 INFO: [Worker 0] randomize_scene: Setting poses for 46 objects [json_eval_task_sampler.py: 686] +05/27 08:57:20 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 08:57:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 08:57:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 08:57:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 08:57:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 08:57:20 INFO: [Worker 0] Sampled task 'Pick up the mint pawn and place it next to the modern silver toaster with blue accents' [task_sampler.py: 1136] +05/27 08:57:20 INFO: [Worker 0] Worker 0 house 5219 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 08:57:20 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 08:57:21 WARNING: [Worker 0] Could not find object objainsect_016576dd30c1464f9115584748950ed2_1_0_2 in scene [object_manager.py: 1238] +05/27 08:57:21 WARNING: [Worker 0] Could not find object apple_1d4990dc37d751a859248eaa9d6ecea0_1_0_2 in scene [object_manager.py: 1238] +05/27 08:59:01 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 09:11:34 INFO: [Worker 0] Worker 0 house 5219 episode 0 object objachesspiece_4a7ca69cec1d45648576c4dd262009d6_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 09:11:38 INFO: [Worker 0] Batching and saving trajectory data for house_5219: 1 episodes [pipeline.py: 233] +05/27 09:11:38 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 09:11:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 09:11:40 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5219 [save_utils.py: 703] +05/27 09:11:40 INFO: [Worker 0] Successfully saved trajectory data for house_5219 in 2.44s (batch: 2.35s, save: 0.09s) [pipeline.py: 280] +05/27 09:11:41 WARNING: [Worker 0] No trajectory data to save for house_5219 [pipeline.py: 229] +05/27 09:11:41 INFO: [Worker 0] Worker 0 completed house 5219: 0/1 successful episodes [pipeline.py: 1243] +05/27 09:11:41 INFO: [Worker 0] Worker 0 starting house 5408 (index 59/116) [pipeline.py: 473] +05/27 09:11:41 INFO: [Worker 0] Loaded 1 episodes for house 5408 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 09:11:41 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 09:11:44 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5408_ceiling.xml [task_sampler.py: 797] +05/27 09:11:44 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5408, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 09:11:44 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 09:11:44 INFO: [Worker 0] randomize_scene: Setting poses for 34 objects [json_eval_task_sampler.py: 686] +05/27 09:11:44 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 09:11:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 09:11:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 09:11:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 09:11:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 09:11:44 INFO: [Worker 0] Sampled task 'Pick up the decorative sign and place it next to the smooth green apple' [task_sampler.py: 1136] +05/27 09:11:44 INFO: [Worker 0] Worker 0 house 5408 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 09:11:44 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 09:11:44 WARNING: [Worker 0] Could not find object objastonedish_7bf14a57ee5345689c3efd4bd1616466_1_0_6 in scene [object_manager.py: 1238] +05/27 09:11:44 WARNING: [Worker 0] Could not find object objanameplate_bc384e6f26f84b04997161e3acde4bc3_1_0_6 in scene [object_manager.py: 1238] +05/27 09:13:19 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 09:22:05 INFO: [Worker 0] Worker 0 house 5408 episode 0 object objadecorativesign_718ce2f835cc4281a0b8102773c7b290_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 09:22:08 INFO: [Worker 0] Batching and saving trajectory data for house_5408: 1 episodes [pipeline.py: 233] +05/27 09:22:08 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 09:22:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 09:22:10 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5408 [save_utils.py: 703] +05/27 09:22:10 INFO: [Worker 0] Successfully saved trajectory data for house_5408 in 2.40s (batch: 2.31s, save: 0.09s) [pipeline.py: 280] +05/27 09:22:11 WARNING: [Worker 0] No trajectory data to save for house_5408 [pipeline.py: 229] +05/27 09:22:11 INFO: [Worker 0] Worker 0 completed house 5408: 0/1 successful episodes [pipeline.py: 1243] +05/27 09:22:11 INFO: [Worker 0] Worker 0 starting house 5482 (index 60/116) [pipeline.py: 473] +05/27 09:22:11 INFO: [Worker 0] Loaded 1 episodes for house 5482 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 09:22:11 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 09:23:12 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5482_ceiling.xml [task_sampler.py: 797] +05/27 09:23:12 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5482, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 09:23:12 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 09:23:12 INFO: [Worker 0] randomize_scene: Setting poses for 39 objects [json_eval_task_sampler.py: 686] +05/27 09:23:12 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 09:23:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 09:23:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 09:23:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 09:23:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 09:23:12 INFO: [Worker 0] Sampled task 'Pick up the compact black rail mount with slots and place it next to the bread' [task_sampler.py: 1136] +05/27 09:23:12 INFO: [Worker 0] Worker 0 house 5482 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 09:23:12 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 09:24:50 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 09:33:37 INFO: [Worker 0] Worker 0 house 5482 episode 0 object objarailmount_221ab95129a74da18fbab9b1e15d77f3_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 09:33:41 INFO: [Worker 0] Batching and saving trajectory data for house_5482: 1 episodes [pipeline.py: 233] +05/27 09:33:41 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 09:33:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 09:33:43 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5482 [save_utils.py: 703] +05/27 09:33:43 INFO: [Worker 0] Successfully saved trajectory data for house_5482 in 2.78s (batch: 2.69s, save: 0.09s) [pipeline.py: 280] +05/27 09:33:44 WARNING: [Worker 0] No trajectory data to save for house_5482 [pipeline.py: 229] +05/27 09:33:44 INFO: [Worker 0] Worker 0 completed house 5482: 0/1 successful episodes [pipeline.py: 1243] +05/27 09:33:44 INFO: [Worker 0] Worker 0 starting house 5568 (index 61/116) [pipeline.py: 473] +05/27 09:33:44 INFO: [Worker 0] Loaded 1 episodes for house 5568 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 09:33:44 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 09:34:35 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5568_ceiling.xml [task_sampler.py: 797] +05/27 09:34:35 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5568, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 09:34:35 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 09:34:35 INFO: [Worker 0] randomize_scene: Setting poses for 41 objects [json_eval_task_sampler.py: 686] +05/27 09:34:35 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 09:34:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 09:34:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 09:34:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 09:34:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 09:34:35 INFO: [Worker 0] Sampled task 'Pick up the glossy green beetle figurine and place it next to the red rosebud turquoise stem' [task_sampler.py: 1136] +05/27 09:34:35 INFO: [Worker 0] Worker 0 house 5568 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 09:34:35 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 09:34:35 WARNING: [Worker 0] Could not find object objacleaningsponge_afd092fac12f4ef8984b80d3d15de232_1_0_3 in scene [object_manager.py: 1238] +05/27 09:36:11 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 09:47:33 INFO: [Worker 0] Worker 0 house 5568 episode 0 object objadecorativeinsect_3d87721214d44cc6986677a844c80499_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 09:47:36 INFO: [Worker 0] Batching and saving trajectory data for house_5568: 1 episodes [pipeline.py: 233] +05/27 09:47:36 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 09:47:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 09:47:38 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5568 [save_utils.py: 703] +05/27 09:47:38 INFO: [Worker 0] Successfully saved trajectory data for house_5568 in 2.40s (batch: 2.31s, save: 0.09s) [pipeline.py: 280] +05/27 09:47:39 WARNING: [Worker 0] No trajectory data to save for house_5568 [pipeline.py: 229] +05/27 09:47:39 INFO: [Worker 0] Worker 0 completed house 5568: 0/1 successful episodes [pipeline.py: 1243] +05/27 09:47:39 INFO: [Worker 0] Worker 0 starting house 5628 (index 62/116) [pipeline.py: 473] +05/27 09:47:39 INFO: [Worker 0] Loaded 1 episodes for house 5628 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 09:47:39 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 09:48:13 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5628_ceiling.xml [task_sampler.py: 797] +05/27 09:48:13 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5628, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 09:48:13 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 09:48:13 INFO: [Worker 0] randomize_scene: Setting poses for 32 objects [json_eval_task_sampler.py: 686] +05/27 09:48:13 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 09:48:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 09:48:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 09:48:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 09:48:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 09:48:13 INFO: [Worker 0] Sampled task 'Pick up the muffler and place it next to the beige weathered animal jawbone' [task_sampler.py: 1136] +05/27 09:48:13 INFO: [Worker 0] Worker 0 house 5628 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 09:48:13 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 09:48:13 WARNING: [Worker 0] Could not find object objastoneslab_79f7029be34f4ac9a418454d7967a859_1_0_2 in scene [object_manager.py: 1238] +05/27 09:58:08 INFO: [Worker 0] Worker 0 house 5628 episode 0 object objashockabsorber_09418c0e952b4ccebedd650ef0acad24_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 09:58:11 INFO: [Worker 0] Batching and saving trajectory data for house_5628: 1 episodes [pipeline.py: 233] +05/27 09:58:11 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 09:58:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 09:58:14 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5628 [save_utils.py: 703] +05/27 09:58:14 INFO: [Worker 0] Successfully saved trajectory data for house_5628 in 2.52s (batch: 2.43s, save: 0.09s) [pipeline.py: 280] +05/27 09:58:14 WARNING: [Worker 0] No trajectory data to save for house_5628 [pipeline.py: 229] +05/27 09:58:14 INFO: [Worker 0] Worker 0 completed house 5628: 0/1 successful episodes [pipeline.py: 1243] +05/27 09:58:14 INFO: [Worker 0] Worker 0 starting house 5699 (index 63/116) [pipeline.py: 473] +05/27 09:58:14 INFO: [Worker 0] Loaded 1 episodes for house 5699 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 09:58:14 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 09:58:52 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5699_ceiling.xml [task_sampler.py: 797] +05/27 09:58:52 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5699, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 09:58:52 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 09:58:52 INFO: [Worker 0] randomize_scene: Setting poses for 89 objects [json_eval_task_sampler.py: 686] +05/27 09:58:52 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 09:58:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 09:58:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 09:58:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 09:58:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 09:58:52 INFO: [Worker 0] Sampled task 'Pick up the curved pink petal and place it next to the sprayer' [task_sampler.py: 1136] +05/27 09:58:52 INFO: [Worker 0] Worker 0 house 5699 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 09:58:52 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 10:00:32 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 10:16:31 INFO: [Worker 0] Worker 0 house 5699 episode 0 object objadecorativepetal_3609a49ccf984828a25d8b73c0ea672b_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 10:16:34 INFO: [Worker 0] Batching and saving trajectory data for house_5699: 1 episodes [pipeline.py: 233] +05/27 10:16:34 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 10:16:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 10:16:37 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5699 [save_utils.py: 703] +05/27 10:16:37 INFO: [Worker 0] Successfully saved trajectory data for house_5699 in 2.47s (batch: 2.38s, save: 0.09s) [pipeline.py: 280] +05/27 10:16:37 WARNING: [Worker 0] No trajectory data to save for house_5699 [pipeline.py: 229] +05/27 10:16:37 INFO: [Worker 0] Worker 0 completed house 5699: 0/1 successful episodes [pipeline.py: 1243] +05/27 10:16:37 INFO: [Worker 0] Worker 0 starting house 5830 (index 64/116) [pipeline.py: 473] +05/27 10:16:37 INFO: [Worker 0] Loaded 1 episodes for house 5830 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 10:16:37 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 10:16:43 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5830_ceiling.xml [task_sampler.py: 797] +05/27 10:16:43 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5830, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 10:16:43 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 10:16:43 INFO: [Worker 0] randomize_scene: Setting poses for 46 objects [json_eval_task_sampler.py: 686] +05/27 10:16:43 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 10:16:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 10:16:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 10:16:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 10:16:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 10:16:43 INFO: [Worker 0] Sampled task 'Pick up the red cylindrical roller and place it next to the small gold dog statue' [task_sampler.py: 1136] +05/27 10:16:43 INFO: [Worker 0] Worker 0 house 5830 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 10:16:44 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 10:18:18 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 10:28:33 INFO: [Worker 0] Worker 0 house 5830 episode 0 object objaroller_bfa3aab6d6704c0c9a48501cb239bb4d_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 10:28:37 INFO: [Worker 0] Batching and saving trajectory data for house_5830: 1 episodes [pipeline.py: 233] +05/27 10:28:37 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 10:28:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 10:28:40 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5830 [save_utils.py: 703] +05/27 10:28:40 INFO: [Worker 0] Successfully saved trajectory data for house_5830 in 2.71s (batch: 2.62s, save: 0.10s) [pipeline.py: 280] +05/27 10:28:40 WARNING: [Worker 0] No trajectory data to save for house_5830 [pipeline.py: 229] +05/27 10:28:40 INFO: [Worker 0] Worker 0 completed house 5830: 0/1 successful episodes [pipeline.py: 1243] +05/27 10:28:40 INFO: [Worker 0] Worker 0 starting house 5905 (index 65/116) [pipeline.py: 473] +05/27 10:28:40 INFO: [Worker 0] Loaded 1 episodes for house 5905 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 10:28:40 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 10:29:06 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/27 10:29:08 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5905_ceiling.xml [task_sampler.py: 797] +05/27 10:29:08 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5905, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 10:29:08 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 10:29:08 INFO: [Worker 0] randomize_scene: Setting poses for 45 objects [json_eval_task_sampler.py: 686] +05/27 10:29:08 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 10:29:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 10:29:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 10:29:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 10:29:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 10:29:08 INFO: [Worker 0] Sampled task 'Pick up the glossy dark chocolate cube with pink and place it next to the container' [task_sampler.py: 1136] +05/27 10:29:08 INFO: [Worker 0] Worker 0 house 5905 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 10:29:08 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 10:29:08 WARNING: [Worker 0] Could not find object objaceilingpanel_a3d6f7df9ff94ed59f95d5086d5f3fdd_1_0_7 in scene [object_manager.py: 1238] +05/27 10:30:46 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 10:41:24 INFO: [Worker 0] Worker 0 house 5905 episode 0 object objachocolate_9d8bc6de6791425aac600b838103f5ce_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 10:41:27 INFO: [Worker 0] Batching and saving trajectory data for house_5905: 1 episodes [pipeline.py: 233] +05/27 10:41:28 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 10:41:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 10:41:30 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5905 [save_utils.py: 703] +05/27 10:41:30 INFO: [Worker 0] Successfully saved trajectory data for house_5905 in 2.43s (batch: 2.34s, save: 0.09s) [pipeline.py: 280] +05/27 10:41:31 WARNING: [Worker 0] No trajectory data to save for house_5905 [pipeline.py: 229] +05/27 10:41:31 INFO: [Worker 0] Worker 0 completed house 5905: 0/1 successful episodes [pipeline.py: 1243] +05/27 10:41:31 INFO: [Worker 0] Worker 0 starting house 5977 (index 66/116) [pipeline.py: 473] +05/27 10:41:31 INFO: [Worker 0] Loaded 1 episodes for house 5977 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 10:41:31 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 10:41:46 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5977_ceiling.xml [task_sampler.py: 797] +05/27 10:41:46 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5977, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 10:41:46 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 10:41:46 INFO: [Worker 0] randomize_scene: Setting poses for 41 objects [json_eval_task_sampler.py: 686] +05/27 10:41:46 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 10:41:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 10:41:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 10:41:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 10:41:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 10:41:46 INFO: [Worker 0] Sampled task 'Pick up the dispenser and place it next to the red potato' [task_sampler.py: 1136] +05/27 10:41:46 INFO: [Worker 0] Worker 0 house 5977 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 10:41:46 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 10:43:23 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 10:52:58 INFO: [Worker 0] Worker 0 house 5977 episode 0 object soapdispenser_e2340594c344cded466620d23f003e8a_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 10:53:01 INFO: [Worker 0] Batching and saving trajectory data for house_5977: 1 episodes [pipeline.py: 233] +05/27 10:53:01 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 10:53:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 10:53:03 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5977 [save_utils.py: 703] +05/27 10:53:03 INFO: [Worker 0] Successfully saved trajectory data for house_5977 in 2.45s (batch: 2.36s, save: 0.09s) [pipeline.py: 280] +05/27 10:53:04 WARNING: [Worker 0] No trajectory data to save for house_5977 [pipeline.py: 229] +05/27 10:53:04 INFO: [Worker 0] Worker 0 completed house 5977: 0/1 successful episodes [pipeline.py: 1243] +05/27 10:53:04 INFO: [Worker 0] Worker 0 starting house 6079 (index 67/116) [pipeline.py: 473] +05/27 10:53:04 INFO: [Worker 0] Loaded 1 episodes for house 6079 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 10:53:04 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 10:53:11 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/27 10:53:15 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6079_ceiling.xml [task_sampler.py: 797] +05/27 10:53:15 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6079, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 10:53:15 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 10:53:15 INFO: [Worker 0] randomize_scene: Setting poses for 71 objects [json_eval_task_sampler.py: 686] +05/27 10:53:15 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 10:53:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 10:53:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 10:53:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 10:53:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 10:53:15 INFO: [Worker 0] Sampled task 'Pick up the purple rectangular packet with cupcake and place it next to the dark red hardcover journal with pages' [task_sampler.py: 1136] +05/27 10:53:15 INFO: [Worker 0] Worker 0 house 6079 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 10:53:15 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 10:53:15 WARNING: [Worker 0] Could not find object objadecorativebook_a546d2dbdad04856b0649fdb4c8fb672_1_0_4 in scene [object_manager.py: 1238] +05/27 10:53:15 WARNING: [Worker 0] Could not find object plate_5eb7564ba51c03b33a20e901d23c4f3b_2_0_4 in scene [object_manager.py: 1238] +05/27 10:53:15 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_6 in scene [object_manager.py: 1238] +05/27 10:54:56 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 10:59:00 INFO: [Worker 0] Worker 0 house 6079 episode 0 object objafoodpacket_a784c3ce29d44a899afe3f80a20e4fec_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 10:59:03 INFO: [Worker 0] Batching and saving trajectory data for house_6079: 1 episodes [pipeline.py: 233] +05/27 10:59:03 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 10:59:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 10:59:06 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6079 [save_utils.py: 703] +05/27 10:59:06 INFO: [Worker 0] Successfully saved trajectory data for house_6079 in 2.41s (batch: 2.32s, save: 0.09s) [pipeline.py: 280] +05/27 10:59:06 WARNING: [Worker 0] No trajectory data to save for house_6079 [pipeline.py: 229] +05/27 10:59:06 INFO: [Worker 0] Worker 0 completed house 6079: 0/1 successful episodes [pipeline.py: 1243] +05/27 10:59:06 INFO: [Worker 0] Worker 0 starting house 6148 (index 68/116) [pipeline.py: 473] +05/27 10:59:06 INFO: [Worker 0] Loaded 1 episodes for house 6148 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 10:59:06 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 10:59:29 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6148_ceiling.xml [task_sampler.py: 797] +05/27 10:59:29 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6148, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 10:59:29 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 10:59:29 INFO: [Worker 0] randomize_scene: Setting poses for 19 objects [json_eval_task_sampler.py: 686] +05/27 10:59:29 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 10:59:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 10:59:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 10:59:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 10:59:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 10:59:29 INFO: [Worker 0] Sampled task 'Pick up the shallow wide terracotta bowl and place it next to the gray polished human hand statue' [task_sampler.py: 1136] +05/27 10:59:29 INFO: [Worker 0] Worker 0 house 6148 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 10:59:29 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 11:01:06 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 11:06:33 INFO: [Worker 0] Worker 0 house 6148 episode 0 object bowl_4d97da0c296398947839b0e020453a0f_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 11:06:37 INFO: [Worker 0] Batching and saving trajectory data for house_6148: 1 episodes [pipeline.py: 233] +05/27 11:06:37 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 11:06:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 11:06:39 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6148 [save_utils.py: 703] +05/27 11:06:39 INFO: [Worker 0] Successfully saved trajectory data for house_6148 in 2.77s (batch: 2.68s, save: 0.09s) [pipeline.py: 280] +05/27 11:06:40 WARNING: [Worker 0] No trajectory data to save for house_6148 [pipeline.py: 229] +05/27 11:06:40 INFO: [Worker 0] Worker 0 completed house 6148: 0/1 successful episodes [pipeline.py: 1243] +05/27 11:06:40 INFO: [Worker 0] Worker 0 starting house 6227 (index 69/116) [pipeline.py: 473] +05/27 11:06:40 INFO: [Worker 0] Loaded 1 episodes for house 6227 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 11:06:40 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 11:07:13 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6227_ceiling.xml [task_sampler.py: 797] +05/27 11:07:13 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6227, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 11:07:13 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 11:07:13 INFO: [Worker 0] randomize_scene: Setting poses for 50 objects [json_eval_task_sampler.py: 686] +05/27 11:07:13 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 11:07:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 11:07:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 11:07:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 11:07:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 11:07:13 INFO: [Worker 0] Sampled task 'Pick up the french bulldog sculpture and place it next to the irregular yellow porous sponge object' [task_sampler.py: 1136] +05/27 11:07:13 INFO: [Worker 0] Worker 0 house 6227 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 11:07:13 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 11:07:13 WARNING: [Worker 0] Could not find object pencil_2c624e64d6f8a208a3a089ad77d16aa1_1_0_7 in scene [object_manager.py: 1238] +05/27 11:09:44 INFO: [Worker 0] Worker 0 house 6227 episode 0 object objasculpture_0aada10d6d7e46dca7cb54a8590b2a41_1_0_7 completed with success=True [pipeline.py: 1114] +05/27 11:09:48 INFO: [Worker 0] Batching and saving trajectory data for house_6227: 1 episodes [pipeline.py: 233] +05/27 11:09:48 INFO: [Worker 0] Preparing episode data: 42 timesteps [save_utils.py: 284] +05/27 11:09:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 11:09:50 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6227 [save_utils.py: 703] +05/27 11:09:50 INFO: [Worker 0] Successfully saved trajectory data for house_6227 in 2.19s (batch: 2.17s, save: 0.03s) [pipeline.py: 280] +05/27 11:09:50 WARNING: [Worker 0] No trajectory data to save for house_6227 [pipeline.py: 229] +05/27 11:09:50 INFO: [Worker 0] Worker 0 completed house 6227: 1/1 successful episodes [pipeline.py: 1243] +05/27 11:09:50 INFO: [Worker 0] Worker 0 starting house 6282 (index 70/116) [pipeline.py: 473] +05/27 11:09:50 INFO: [Worker 0] Loaded 1 episodes for house 6282 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 11:09:50 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 11:10:03 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6282_ceiling.xml [task_sampler.py: 797] +05/27 11:10:03 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6282, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 11:10:03 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 11:10:03 INFO: [Worker 0] randomize_scene: Setting poses for 78 objects [json_eval_task_sampler.py: 686] +05/27 11:10:03 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 11:10:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 11:10:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 11:10:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 11:10:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 11:10:03 INFO: [Worker 0] Sampled task 'Pick up the rustic ceramic bowl with patterns and place it next to the gold pump bottle' [task_sampler.py: 1136] +05/27 11:10:03 INFO: [Worker 0] Worker 0 house 6282 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 11:10:03 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 11:11:40 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 11:27:24 INFO: [Worker 0] Worker 0 house 6282 episode 0 object objaceramicbowl_66b7280abfa84ed3b5f1ae4d51dfd946_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 11:27:27 INFO: [Worker 0] Batching and saving trajectory data for house_6282: 1 episodes [pipeline.py: 233] +05/27 11:27:27 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 11:27:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 11:27:29 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6282 [save_utils.py: 703] +05/27 11:27:29 INFO: [Worker 0] Successfully saved trajectory data for house_6282 in 2.50s (batch: 2.41s, save: 0.09s) [pipeline.py: 280] +05/27 11:27:30 WARNING: [Worker 0] No trajectory data to save for house_6282 [pipeline.py: 229] +05/27 11:27:30 INFO: [Worker 0] Worker 0 completed house 6282: 0/1 successful episodes [pipeline.py: 1243] +05/27 11:27:30 INFO: [Worker 0] Worker 0 starting house 6328 (index 71/116) [pipeline.py: 473] +05/27 11:27:30 INFO: [Worker 0] Loaded 1 episodes for house 6328 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 11:27:30 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 11:27:52 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6328_ceiling.xml [task_sampler.py: 797] +05/27 11:27:52 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6328, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 11:27:52 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 11:27:52 INFO: [Worker 0] randomize_scene: Setting poses for 80 objects [json_eval_task_sampler.py: 686] +05/27 11:27:52 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 11:27:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 11:27:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 11:27:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 11:27:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 11:27:52 INFO: [Worker 0] Sampled task 'Pick up the gray stake with red spherical top and place it next to the decorative star' [task_sampler.py: 1136] +05/27 11:27:52 INFO: [Worker 0] Worker 0 house 6328 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 11:27:52 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 11:46:04 INFO: [Worker 0] Worker 0 house 6328 episode 0 object objagardenstake_6c526bcea303477ba2cedb27c6c8af53_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 11:46:08 INFO: [Worker 0] Batching and saving trajectory data for house_6328: 1 episodes [pipeline.py: 233] +05/27 11:46:08 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 11:46:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 11:46:10 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6328 [save_utils.py: 703] +05/27 11:46:10 INFO: [Worker 0] Successfully saved trajectory data for house_6328 in 2.48s (batch: 2.39s, save: 0.09s) [pipeline.py: 280] +05/27 11:46:11 WARNING: [Worker 0] No trajectory data to save for house_6328 [pipeline.py: 229] +05/27 11:46:11 INFO: [Worker 0] Worker 0 completed house 6328: 0/1 successful episodes [pipeline.py: 1243] +05/27 11:46:11 INFO: [Worker 0] Worker 0 starting house 6400 (index 72/116) [pipeline.py: 473] +05/27 11:46:11 INFO: [Worker 0] Loaded 1 episodes for house 6400 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 11:46:11 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 11:46:22 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6400_ceiling.xml [task_sampler.py: 797] +05/27 11:46:22 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6400, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 11:46:22 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 11:46:22 INFO: [Worker 0] randomize_scene: Setting poses for 59 objects [json_eval_task_sampler.py: 686] +05/27 11:46:22 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 11:46:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 11:46:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 11:46:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 11:46:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 11:46:22 INFO: [Worker 0] Sampled task 'Pick up the green packet and place it next to the small green packet' [task_sampler.py: 1136] +05/27 11:46:22 INFO: [Worker 0] Worker 0 house 6400 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 11:46:23 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 12:01:49 INFO: [Worker 0] Worker 0 house 6400 episode 0 object objafoodpacket_58ff4a1e3fb24fbca6989f9b6d1fe23e_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 12:01:53 INFO: [Worker 0] Batching and saving trajectory data for house_6400: 1 episodes [pipeline.py: 233] +05/27 12:01:53 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 12:01:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 12:01:55 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6400 [save_utils.py: 703] +05/27 12:01:55 INFO: [Worker 0] Successfully saved trajectory data for house_6400 in 2.75s (batch: 2.66s, save: 0.09s) [pipeline.py: 280] +05/27 12:01:56 WARNING: [Worker 0] No trajectory data to save for house_6400 [pipeline.py: 229] +05/27 12:01:56 INFO: [Worker 0] Worker 0 completed house 6400: 0/1 successful episodes [pipeline.py: 1243] +05/27 12:01:56 INFO: [Worker 0] Worker 0 starting house 6514 (index 73/116) [pipeline.py: 473] +05/27 12:01:56 INFO: [Worker 0] Loaded 1 episodes for house 6514 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 12:01:56 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 12:02:07 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6514_ceiling.xml [task_sampler.py: 797] +05/27 12:02:07 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6514, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 12:02:07 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 12:02:07 INFO: [Worker 0] randomize_scene: Setting poses for 28 objects [json_eval_task_sampler.py: 686] +05/27 12:02:07 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 12:02:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 12:02:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 12:02:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 12:02:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 12:02:07 INFO: [Worker 0] Sampled task 'Pick up the purple spray bottle with white nozzle and place it next to the paint can' [task_sampler.py: 1136] +05/27 12:02:07 INFO: [Worker 0] Worker 0 house 6514 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 12:02:07 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 12:10:49 INFO: [Worker 0] Worker 0 house 6514 episode 0 object atomizer_973bce9435d852757b03afc168e4c1df_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 12:10:53 INFO: [Worker 0] Batching and saving trajectory data for house_6514: 1 episodes [pipeline.py: 233] +05/27 12:10:53 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 12:10:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 12:10:55 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6514 [save_utils.py: 703] +05/27 12:10:55 INFO: [Worker 0] Successfully saved trajectory data for house_6514 in 2.67s (batch: 2.58s, save: 0.09s) [pipeline.py: 280] +05/27 12:10:56 WARNING: [Worker 0] No trajectory data to save for house_6514 [pipeline.py: 229] +05/27 12:10:56 INFO: [Worker 0] Worker 0 completed house 6514: 0/1 successful episodes [pipeline.py: 1243] +05/27 12:10:56 INFO: [Worker 0] Worker 0 starting house 6548 (index 74/116) [pipeline.py: 473] +05/27 12:10:56 INFO: [Worker 0] Loaded 2 episodes for house 6548 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 12:10:56 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 12:11:15 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6548_ceiling.xml [task_sampler.py: 797] +05/27 12:11:15 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6548, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 12:11:15 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 12:11:15 INFO: [Worker 0] randomize_scene: Setting poses for 91 objects [json_eval_task_sampler.py: 686] +05/27 12:11:15 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 12:11:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 12:11:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 12:11:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 12:11:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 12:11:15 INFO: [Worker 0] Sampled task 'Pick up the soup can and place it next to the irishpotato' [task_sampler.py: 1136] +05/27 12:11:15 INFO: [Worker 0] Worker 0 house 6548 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/27 12:11:15 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 12:11:15 WARNING: [Worker 0] Could not find object objarodent_a7ca84f5b2224c9087aac4b4fb88ae3e_1_0_3 in scene [object_manager.py: 1238] +05/27 12:11:15 WARNING: [Worker 0] Could not find object plate_ac19ca22ae10d8179cdc8dc68e02072d_2_0_3 in scene [object_manager.py: 1238] +05/27 12:12:52 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 12:27:42 INFO: [Worker 0] Worker 0 house 6548 episode 0 object objasoupcan_7f207bacacd04ac88c54babf487ae570_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 12:27:45 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 12:27:52 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6548_ceiling.xml [task_sampler.py: 797] +05/27 12:27:52 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6548, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 12:27:52 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 12:27:52 INFO: [Worker 0] randomize_scene: Setting poses for 91 objects [json_eval_task_sampler.py: 686] +05/27 12:27:52 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 12:27:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 12:27:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 12:27:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 12:27:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 12:27:52 INFO: [Worker 0] Sampled task 'Pick up the blue handheld ergonomic 3d scanner and place it next to the crockery' [task_sampler.py: 1136] +05/27 12:27:52 INFO: [Worker 0] Worker 0 house 6548 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/27 12:27:52 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 12:27:52 WARNING: [Worker 0] Could not find object objarodent_a7ca84f5b2224c9087aac4b4fb88ae3e_1_0_3 in scene [object_manager.py: 1238] +05/27 12:27:52 WARNING: [Worker 0] Could not find object plate_ac19ca22ae10d8179cdc8dc68e02072d_2_0_3 in scene [object_manager.py: 1238] +05/27 12:29:27 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 12:44:21 INFO: [Worker 0] Worker 0 house 6548 episode 1 object obja3dscanner_35ce1f77245c4aeb903f6ec11634e83b_1_0_4 completed with success=False [pipeline.py: 1114] +05/27 12:44:25 INFO: [Worker 0] Batching and saving trajectory data for house_6548: 2 episodes [pipeline.py: 233] +05/27 12:44:25 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 12:44:27 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 12:44:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 12:44:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 12:44:30 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6548 [save_utils.py: 703] +05/27 12:44:30 INFO: [Worker 0] Successfully saved trajectory data for house_6548 in 4.76s (batch: 4.59s, save: 0.17s) [pipeline.py: 280] +05/27 12:44:30 WARNING: [Worker 0] No trajectory data to save for house_6548 [pipeline.py: 229] +05/27 12:44:30 INFO: [Worker 0] Worker 0 completed house 6548: 0/2 successful episodes [pipeline.py: 1243] +05/27 12:44:30 INFO: [Worker 0] Worker 0 starting house 6603 (index 75/116) [pipeline.py: 473] +05/27 12:44:30 INFO: [Worker 0] Loaded 1 episodes for house 6603 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 12:44:30 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 12:45:01 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6603_ceiling.xml [task_sampler.py: 797] +05/27 12:45:01 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6603, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 12:45:01 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 12:45:01 INFO: [Worker 0] randomize_scene: Setting poses for 71 objects [json_eval_task_sampler.py: 686] +05/27 12:45:01 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 12:45:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 12:45:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 12:45:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 12:45:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 12:45:01 INFO: [Worker 0] Sampled task 'Pick up the chain and place it next to the brown chihuahua' [task_sampler.py: 1136] +05/27 12:45:01 INFO: [Worker 0] Worker 0 house 6603 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 12:45:01 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 12:45:01 WARNING: [Worker 0] Could not find object objatapedispenser_2988a85fdf0f4a679b17335bd8e26871_1_0_5 in scene [object_manager.py: 1238] +05/27 12:45:01 WARNING: [Worker 0] Could not find object objaguitareffectspedal_083eb9b9eb564701820d3a79377c77ce_1_0_5 in scene [object_manager.py: 1238] +05/27 12:45:01 WARNING: [Worker 0] Could not find object objadentures_46145e0221e94a3185b215c07d0f4340_1_0_7 in scene [object_manager.py: 1238] +05/27 12:45:01 WARNING: [Worker 0] Could not find object objamarbleslab_7d540d7b25af4e41a58eaeb5037f88a9_1_0_7 in scene [object_manager.py: 1238] +05/27 12:47:24 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 13:01:11 INFO: [Worker 0] Worker 0 house 6603 episode 0 object objadecorativechain_a3ce79a459cc4849868eb2ab508dbd80_1_0_9 completed with success=False [pipeline.py: 1114] +05/27 13:01:14 INFO: [Worker 0] Batching and saving trajectory data for house_6603: 1 episodes [pipeline.py: 233] +05/27 13:01:14 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 13:01:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 13:01:17 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6603 [save_utils.py: 703] +05/27 13:01:17 INFO: [Worker 0] Successfully saved trajectory data for house_6603 in 2.43s (batch: 2.34s, save: 0.09s) [pipeline.py: 280] +05/27 13:01:17 WARNING: [Worker 0] No trajectory data to save for house_6603 [pipeline.py: 229] +05/27 13:01:17 INFO: [Worker 0] Worker 0 completed house 6603: 0/1 successful episodes [pipeline.py: 1243] +05/27 13:01:17 INFO: [Worker 0] Worker 0 starting house 6722 (index 76/116) [pipeline.py: 473] +05/27 13:01:17 INFO: [Worker 0] Loaded 1 episodes for house 6722 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 13:01:17 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 13:01:44 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6722_ceiling.xml [task_sampler.py: 797] +05/27 13:01:45 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6722, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 13:01:45 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 13:01:45 INFO: [Worker 0] randomize_scene: Setting poses for 66 objects [json_eval_task_sampler.py: 686] +05/27 13:01:45 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 13:01:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 13:01:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 13:01:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 13:01:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 13:01:45 INFO: [Worker 0] Sampled task 'Pick up the yellow handheld gps with blue screen and place it next to the white spine book' [task_sampler.py: 1136] +05/27 13:01:45 INFO: [Worker 0] Worker 0 house 6722 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 13:01:45 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 13:03:21 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 13:16:35 INFO: [Worker 0] Worker 0 house 6722 episode 0 object objagpsdevice_d6d1d149471143fd9488fcdb7818b2d3_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 13:16:38 INFO: [Worker 0] Batching and saving trajectory data for house_6722: 1 episodes [pipeline.py: 233] +05/27 13:16:38 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 13:16:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 13:16:40 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6722 [save_utils.py: 703] +05/27 13:16:40 INFO: [Worker 0] Successfully saved trajectory data for house_6722 in 2.47s (batch: 2.38s, save: 0.09s) [pipeline.py: 280] +05/27 13:16:41 WARNING: [Worker 0] No trajectory data to save for house_6722 [pipeline.py: 229] +05/27 13:16:41 INFO: [Worker 0] Worker 0 completed house 6722: 0/1 successful episodes [pipeline.py: 1243] +05/27 13:16:41 INFO: [Worker 0] Worker 0 starting house 6792 (index 77/116) [pipeline.py: 473] +05/27 13:16:41 INFO: [Worker 0] Loaded 1 episodes for house 6792 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 13:16:41 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 13:17:07 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6792_ceiling.xml [task_sampler.py: 797] +05/27 13:17:07 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6792, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 13:17:07 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 13:17:07 INFO: [Worker 0] randomize_scene: Setting poses for 87 objects [json_eval_task_sampler.py: 686] +05/27 13:17:07 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 13:17:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 13:17:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 13:17:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 13:17:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 13:17:07 INFO: [Worker 0] Sampled task 'Pick up the hand drill and place it next to the blocky pixelated hammer' [task_sampler.py: 1136] +05/27 13:17:07 INFO: [Worker 0] Worker 0 house 6792 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 13:17:07 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 13:17:08 WARNING: [Worker 0] Could not find object objamedicalmask_b52524319c70458db1c3a78f9c096afe_1_0_5 in scene [object_manager.py: 1238] +05/27 13:17:08 WARNING: [Worker 0] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_9 in scene [object_manager.py: 1238] +05/27 13:34:49 INFO: [Worker 0] Worker 0 house 6792 episode 0 object objahanddrill_3cb8cc146b98499fa093e6ba745ff7c4_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 13:34:53 INFO: [Worker 0] Batching and saving trajectory data for house_6792: 1 episodes [pipeline.py: 233] +05/27 13:34:53 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 13:34:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 13:34:55 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6792 [save_utils.py: 703] +05/27 13:34:55 INFO: [Worker 0] Successfully saved trajectory data for house_6792 in 2.63s (batch: 2.54s, save: 0.09s) [pipeline.py: 280] +05/27 13:34:56 WARNING: [Worker 0] No trajectory data to save for house_6792 [pipeline.py: 229] +05/27 13:34:56 INFO: [Worker 0] Worker 0 completed house 6792: 0/1 successful episodes [pipeline.py: 1243] +05/27 13:34:56 INFO: [Worker 0] Worker 0 starting house 6917 (index 78/116) [pipeline.py: 473] +05/27 13:34:56 INFO: [Worker 0] Loaded 1 episodes for house 6917 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 13:34:56 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 13:35:22 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6917_ceiling.xml [task_sampler.py: 797] +05/27 13:35:22 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6917, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 13:35:22 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 13:35:22 INFO: [Worker 0] randomize_scene: Setting poses for 80 objects [json_eval_task_sampler.py: 686] +05/27 13:35:22 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 13:35:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 13:35:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 13:35:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 13:35:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 13:35:22 INFO: [Worker 0] Sampled task 'Pick up the dark vintage iron nutcracker and place it next to the decorative plate' [task_sampler.py: 1136] +05/27 13:35:22 INFO: [Worker 0] Worker 0 house 6917 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 13:35:22 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 13:54:15 INFO: [Worker 0] Worker 0 house 6917 episode 0 object objanutcracker_94c36df60580408ea582ad83c55cdca0_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 13:54:18 INFO: [Worker 0] Batching and saving trajectory data for house_6917: 1 episodes [pipeline.py: 233] +05/27 13:54:18 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 13:54:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 13:54:21 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6917 [save_utils.py: 703] +05/27 13:54:21 INFO: [Worker 0] Successfully saved trajectory data for house_6917 in 2.42s (batch: 2.33s, save: 0.09s) [pipeline.py: 280] +05/27 13:54:21 WARNING: [Worker 0] No trajectory data to save for house_6917 [pipeline.py: 229] +05/27 13:54:21 INFO: [Worker 0] Worker 0 completed house 6917: 0/1 successful episodes [pipeline.py: 1243] +05/27 13:54:21 INFO: [Worker 0] Worker 0 starting house 6987 (index 79/116) [pipeline.py: 473] +05/27 13:54:21 INFO: [Worker 0] Loaded 1 episodes for house 6987 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 13:54:21 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 13:55:04 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6987_ceiling.xml [task_sampler.py: 797] +05/27 13:55:04 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6987, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 13:55:04 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 13:55:04 INFO: [Worker 0] randomize_scene: Setting poses for 43 objects [json_eval_task_sampler.py: 686] +05/27 13:55:04 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 13:55:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 13:55:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 13:55:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 13:55:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 13:55:04 INFO: [Worker 0] Sampled task 'Pick up the toy box and place it next to the detailed visible desert camouflage tank' [task_sampler.py: 1136] +05/27 13:55:04 INFO: [Worker 0] Worker 0 house 6987 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 13:55:04 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 13:56:43 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 14:09:34 INFO: [Worker 0] Worker 0 house 6987 episode 0 object objatoystoragebox_b47be2bc67884e0397463a236e689b92_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 14:09:38 INFO: [Worker 0] Batching and saving trajectory data for house_6987: 1 episodes [pipeline.py: 233] +05/27 14:09:38 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 14:09:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 14:09:41 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6987 [save_utils.py: 703] +05/27 14:09:41 INFO: [Worker 0] Successfully saved trajectory data for house_6987 in 2.45s (batch: 2.36s, save: 0.09s) [pipeline.py: 280] +05/27 14:09:41 WARNING: [Worker 0] No trajectory data to save for house_6987 [pipeline.py: 229] +05/27 14:09:41 INFO: [Worker 0] Worker 0 completed house 6987: 0/1 successful episodes [pipeline.py: 1243] +05/27 14:09:41 INFO: [Worker 0] Worker 0 starting house 7042 (index 80/116) [pipeline.py: 473] +05/27 14:09:41 INFO: [Worker 0] Loaded 1 episodes for house 7042 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 14:09:41 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 14:09:54 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7042_ceiling.xml [task_sampler.py: 797] +05/27 14:09:54 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7042, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 14:09:54 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 14:09:54 INFO: [Worker 0] randomize_scene: Setting poses for 27 objects [json_eval_task_sampler.py: 686] +05/27 14:09:54 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 14:09:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 14:09:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 14:09:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 14:09:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 14:09:54 INFO: [Worker 0] Sampled task 'Pick up the white ergonomic handheld device with display and place it next to the wooden house with hooks' [task_sampler.py: 1136] +05/27 14:09:54 INFO: [Worker 0] Worker 0 house 7042 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 14:09:54 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 14:11:30 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 14:18:40 INFO: [Worker 0] Worker 0 house 7042 episode 0 object objahandhelddevice_a25db99294664f0ea8f871f67bd77077_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 14:18:43 INFO: [Worker 0] Batching and saving trajectory data for house_7042: 1 episodes [pipeline.py: 233] +05/27 14:18:43 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 14:18:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 14:18:45 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7042 [save_utils.py: 703] +05/27 14:18:45 INFO: [Worker 0] Successfully saved trajectory data for house_7042 in 2.47s (batch: 2.38s, save: 0.09s) [pipeline.py: 280] +05/27 14:18:46 WARNING: [Worker 0] No trajectory data to save for house_7042 [pipeline.py: 229] +05/27 14:18:46 INFO: [Worker 0] Worker 0 completed house 7042: 0/1 successful episodes [pipeline.py: 1243] +05/27 14:18:46 INFO: [Worker 0] Worker 0 starting house 7101 (index 81/116) [pipeline.py: 473] +05/27 14:18:46 INFO: [Worker 0] Loaded 1 episodes for house 7101 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 14:18:46 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 14:19:10 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7101_ceiling.xml [task_sampler.py: 797] +05/27 14:19:10 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7101, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 14:19:10 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 14:19:10 INFO: [Worker 0] randomize_scene: Setting poses for 81 objects [json_eval_task_sampler.py: 686] +05/27 14:19:11 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 14:19:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 14:19:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 14:19:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 14:19:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 14:19:11 INFO: [Worker 0] Sampled task 'Pick up the white scepter and place it next to the red bomb with timer and wires' [task_sampler.py: 1136] +05/27 14:19:11 INFO: [Worker 0] Worker 0 house 7101 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 14:19:11 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 14:19:11 WARNING: [Worker 0] Could not find object objadecorativeartpiece_d50ff27e57074d4ab85909a9f66a5e34_1_0_2 in scene [object_manager.py: 1238] +05/27 14:19:11 WARNING: [Worker 0] Could not find object objaathleticshoe_d9a3419498434fcdb94cfc9a907fe1cd_1_0_5 in scene [object_manager.py: 1238] +05/27 14:19:11 WARNING: [Worker 0] Could not find object candle_1b82c5d62bcdb9c9e0fbc639fdc9e22a_1_0_5 in scene [object_manager.py: 1238] +05/27 14:20:50 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 14:33:13 INFO: [Worker 0] Worker 0 house 7101 episode 0 object objadecorativescepter_1eb62803af504e558ea4c6325413dfe3_1_0_4 completed with success=False [pipeline.py: 1114] +05/27 14:33:16 INFO: [Worker 0] Batching and saving trajectory data for house_7101: 1 episodes [pipeline.py: 233] +05/27 14:33:16 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 14:33:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 14:33:19 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7101 [save_utils.py: 703] +05/27 14:33:19 INFO: [Worker 0] Successfully saved trajectory data for house_7101 in 2.52s (batch: 2.43s, save: 0.09s) [pipeline.py: 280] +05/27 14:33:19 WARNING: [Worker 0] No trajectory data to save for house_7101 [pipeline.py: 229] +05/27 14:33:19 INFO: [Worker 0] Worker 0 completed house 7101: 0/1 successful episodes [pipeline.py: 1243] +05/27 14:33:19 INFO: [Worker 0] Worker 0 starting house 7185 (index 82/116) [pipeline.py: 473] +05/27 14:33:19 INFO: [Worker 0] Loaded 1 episodes for house 7185 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 14:33:19 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 14:33:35 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7185_ceiling.xml [task_sampler.py: 797] +05/27 14:33:35 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7185, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 14:33:35 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 14:33:35 INFO: [Worker 0] randomize_scene: Setting poses for 68 objects [json_eval_task_sampler.py: 686] +05/27 14:33:35 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 14:33:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 14:33:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 14:33:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 14:33:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 14:33:35 INFO: [Worker 0] Sampled task 'Pick up the beige vintage calculator with antenna and place it next to the gray laptop' [task_sampler.py: 1136] +05/27 14:33:35 INFO: [Worker 0] Worker 0 house 7185 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 14:33:36 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 14:48:32 INFO: [Worker 0] Worker 0 house 7185 episode 0 object objacalculatorradio_d17ba864b7a94eacaa34ee919210ba8d_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 14:48:35 INFO: [Worker 0] Batching and saving trajectory data for house_7185: 1 episodes [pipeline.py: 233] +05/27 14:48:35 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 14:48:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 14:48:38 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7185 [save_utils.py: 703] +05/27 14:48:38 INFO: [Worker 0] Successfully saved trajectory data for house_7185 in 2.47s (batch: 2.37s, save: 0.09s) [pipeline.py: 280] +05/27 14:48:38 WARNING: [Worker 0] No trajectory data to save for house_7185 [pipeline.py: 229] +05/27 14:48:38 INFO: [Worker 0] Worker 0 completed house 7185: 0/1 successful episodes [pipeline.py: 1243] +05/27 14:48:38 INFO: [Worker 0] Worker 0 starting house 7304 (index 83/116) [pipeline.py: 473] +05/27 14:48:38 INFO: [Worker 0] Loaded 1 episodes for house 7304 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 14:48:38 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 14:48:55 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7304_ceiling.xml [task_sampler.py: 797] +05/27 14:48:55 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7304, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 14:48:55 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 14:48:55 INFO: [Worker 0] randomize_scene: Setting poses for 69 objects [json_eval_task_sampler.py: 686] +05/27 14:48:55 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 14:48:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 14:48:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 14:48:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 14:48:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 14:48:55 INFO: [Worker 0] Sampled task 'Pick up the smoke grenade and place it next to the red tomato' [task_sampler.py: 1136] +05/27 14:48:55 INFO: [Worker 0] Worker 0 house 7304 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 14:48:55 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 14:48:55 WARNING: [Worker 0] Could not find object objadecorativeaccessory_e47911ac361a45c3b6c7f2f1d9071876_1_0_7 in scene [object_manager.py: 1238] +05/27 14:48:55 WARNING: [Worker 0] Could not find object objaartifact_094a39bf1aa24447ba0120adfd2d2073_1_0_7 in scene [object_manager.py: 1238] +05/27 14:50:29 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 15:03:35 INFO: [Worker 0] Worker 0 house 7304 episode 0 object objagrenade_d61768fbc7494143bb87852c36d1beaa_1_0_8 completed with success=False [pipeline.py: 1114] +05/27 15:03:39 INFO: [Worker 0] Batching and saving trajectory data for house_7304: 1 episodes [pipeline.py: 233] +05/27 15:03:39 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 15:03:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 15:03:41 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7304 [save_utils.py: 703] +05/27 15:03:41 INFO: [Worker 0] Successfully saved trajectory data for house_7304 in 2.76s (batch: 2.67s, save: 0.09s) [pipeline.py: 280] +05/27 15:03:42 WARNING: [Worker 0] No trajectory data to save for house_7304 [pipeline.py: 229] +05/27 15:03:42 INFO: [Worker 0] Worker 0 completed house 7304: 0/1 successful episodes [pipeline.py: 1243] +05/27 15:03:42 INFO: [Worker 0] Worker 0 starting house 7350 (index 84/116) [pipeline.py: 473] +05/27 15:03:42 INFO: [Worker 0] Loaded 1 episodes for house 7350 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 15:03:42 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 15:03:50 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7350_ceiling.xml [task_sampler.py: 797] +05/27 15:03:50 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7350, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 15:03:50 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 15:03:50 INFO: [Worker 0] randomize_scene: Setting poses for 21 objects [json_eval_task_sampler.py: 686] +05/27 15:03:50 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 15:03:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 15:03:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 15:03:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 15:03:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 15:03:50 INFO: [Worker 0] Sampled task 'Pick up the glossy orange bell pepper with stem and place it next to the irish potato' [task_sampler.py: 1136] +05/27 15:03:50 INFO: [Worker 0] Worker 0 house 7350 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 15:03:50 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 15:05:26 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 15:11:03 INFO: [Worker 0] Worker 0 house 7350 episode 0 object objabellpepper_aef570243a09466e818dd97d27cbd9dc_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 15:11:07 INFO: [Worker 0] Batching and saving trajectory data for house_7350: 1 episodes [pipeline.py: 233] +05/27 15:11:07 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 15:11:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 15:11:09 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7350 [save_utils.py: 703] +05/27 15:11:09 INFO: [Worker 0] Successfully saved trajectory data for house_7350 in 2.39s (batch: 2.30s, save: 0.09s) [pipeline.py: 280] +05/27 15:11:10 WARNING: [Worker 0] No trajectory data to save for house_7350 [pipeline.py: 229] +05/27 15:11:10 INFO: [Worker 0] Worker 0 completed house 7350: 0/1 successful episodes [pipeline.py: 1243] +05/27 15:11:10 INFO: [Worker 0] Worker 0 starting house 7420 (index 85/116) [pipeline.py: 473] +05/27 15:11:10 INFO: [Worker 0] Loaded 1 episodes for house 7420 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 15:11:10 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 15:11:36 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7420_ceiling.xml [task_sampler.py: 797] +05/27 15:11:36 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7420, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 15:11:36 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 15:11:36 INFO: [Worker 0] randomize_scene: Setting poses for 72 objects [json_eval_task_sampler.py: 686] +05/27 15:11:36 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 15:11:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 15:11:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 15:11:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 15:11:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 15:11:36 INFO: [Worker 0] Sampled task 'Pick up the instrumentality and place it next to the white embossed wedding card' [task_sampler.py: 1136] +05/27 15:11:36 INFO: [Worker 0] Worker 0 house 7420 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 15:11:36 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 15:28:45 INFO: [Worker 0] Worker 0 house 7420 episode 0 object objapackage_aa9326180c1d48bebc96097c82ae4d6c_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 15:28:49 INFO: [Worker 0] Batching and saving trajectory data for house_7420: 1 episodes [pipeline.py: 233] +05/27 15:28:49 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 15:28:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 15:28:51 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7420 [save_utils.py: 703] +05/27 15:28:51 INFO: [Worker 0] Successfully saved trajectory data for house_7420 in 2.77s (batch: 2.67s, save: 0.09s) [pipeline.py: 280] +05/27 15:28:52 WARNING: [Worker 0] No trajectory data to save for house_7420 [pipeline.py: 229] +05/27 15:28:52 INFO: [Worker 0] Worker 0 completed house 7420: 0/1 successful episodes [pipeline.py: 1243] +05/27 15:28:52 INFO: [Worker 0] Worker 0 starting house 7475 (index 86/116) [pipeline.py: 473] +05/27 15:28:52 INFO: [Worker 0] Loaded 1 episodes for house 7475 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 15:28:52 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 15:28:58 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7475_ceiling.xml [task_sampler.py: 797] +05/27 15:28:58 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7475, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 15:28:58 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 15:28:58 INFO: [Worker 0] randomize_scene: Setting poses for 20 objects [json_eval_task_sampler.py: 686] +05/27 15:28:58 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 15:28:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 15:28:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 15:28:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 15:28:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 15:28:58 INFO: [Worker 0] Sampled task 'Pick up the wooden brush and place it next to the plump raw yellow chicken' [task_sampler.py: 1136] +05/27 15:28:58 INFO: [Worker 0] Worker 0 house 7475 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 15:28:59 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 15:37:24 INFO: [Worker 0] Worker 0 house 7475 episode 0 object objapaintbrush_be6bd6967866421ea9dff02b84062bdf_1_0_3 completed with success=False [pipeline.py: 1114] +05/27 15:37:27 INFO: [Worker 0] Batching and saving trajectory data for house_7475: 1 episodes [pipeline.py: 233] +05/27 15:37:27 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 15:37:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 15:37:30 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7475 [save_utils.py: 703] +05/27 15:37:30 INFO: [Worker 0] Successfully saved trajectory data for house_7475 in 2.69s (batch: 2.60s, save: 0.09s) [pipeline.py: 280] +05/27 15:37:31 WARNING: [Worker 0] No trajectory data to save for house_7475 [pipeline.py: 229] +05/27 15:37:31 INFO: [Worker 0] Worker 0 completed house 7475: 0/1 successful episodes [pipeline.py: 1243] +05/27 15:37:31 INFO: [Worker 0] Worker 0 starting house 7576 (index 87/116) [pipeline.py: 473] +05/27 15:37:31 INFO: [Worker 0] Loaded 1 episodes for house 7576 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 15:37:31 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 15:37:42 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7576_ceiling.xml [task_sampler.py: 797] +05/27 15:37:42 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7576, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 15:37:42 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 15:37:42 INFO: [Worker 0] randomize_scene: Setting poses for 45 objects [json_eval_task_sampler.py: 686] +05/27 15:37:42 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 15:37:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 15:37:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 15:37:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 15:37:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 15:37:42 INFO: [Worker 0] Sampled task 'Pick up the decorative brown helmet with straps and place it next to the vintage wooden telephone' [task_sampler.py: 1136] +05/27 15:37:42 INFO: [Worker 0] Worker 0 house 7576 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 15:37:42 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 15:37:42 WARNING: [Worker 0] Could not find object objamodelship_6e8cfcffcb3944c2b2b88f8548489993_1_0_6 in scene [object_manager.py: 1238] +05/27 15:37:42 WARNING: [Worker 0] Could not find object soapdispenser_23e99c616e7c0667edeeacb9669a5e0b_1_0_6 in scene [object_manager.py: 1238] +05/27 15:39:18 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 15:49:22 INFO: [Worker 0] Worker 0 house 7576 episode 0 object objadecorativehelmet_9391d72042e541cf84721bfc158fb229_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 15:49:26 INFO: [Worker 0] Batching and saving trajectory data for house_7576: 1 episodes [pipeline.py: 233] +05/27 15:49:26 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 15:49:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 15:49:28 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7576 [save_utils.py: 703] +05/27 15:49:28 INFO: [Worker 0] Successfully saved trajectory data for house_7576 in 2.45s (batch: 2.36s, save: 0.09s) [pipeline.py: 280] +05/27 15:49:29 WARNING: [Worker 0] No trajectory data to save for house_7576 [pipeline.py: 229] +05/27 15:49:29 INFO: [Worker 0] Worker 0 completed house 7576: 0/1 successful episodes [pipeline.py: 1243] +05/27 15:49:29 INFO: [Worker 0] Worker 0 starting house 7676 (index 88/116) [pipeline.py: 473] +05/27 15:49:29 INFO: [Worker 0] Loaded 1 episodes for house 7676 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 15:49:29 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 15:49:34 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7676_ceiling.xml [task_sampler.py: 797] +05/27 15:49:34 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7676, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 15:49:34 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 15:49:34 INFO: [Worker 0] randomize_scene: Setting poses for 19 objects [json_eval_task_sampler.py: 686] +05/27 15:49:34 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 15:49:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 15:49:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 15:49:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 15:49:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 15:49:34 INFO: [Worker 0] Sampled task 'Pick up the black handled curved sickle and place it next to the yellow and orange fish submarine' [task_sampler.py: 1136] +05/27 15:49:34 INFO: [Worker 0] Worker 0 house 7676 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 15:49:34 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 15:51:20 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 15:58:06 INFO: [Worker 0] Worker 0 house 7676 episode 0 object objasickle_0c3d6826668b4c7ea9477484d4ebeed4_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 15:58:09 INFO: [Worker 0] Batching and saving trajectory data for house_7676: 1 episodes [pipeline.py: 233] +05/27 15:58:09 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 15:58:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 15:58:11 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7676 [save_utils.py: 703] +05/27 15:58:11 INFO: [Worker 0] Successfully saved trajectory data for house_7676 in 2.42s (batch: 2.33s, save: 0.09s) [pipeline.py: 280] +05/27 15:58:12 WARNING: [Worker 0] No trajectory data to save for house_7676 [pipeline.py: 229] +05/27 15:58:12 INFO: [Worker 0] Worker 0 completed house 7676: 0/1 successful episodes [pipeline.py: 1243] +05/27 15:58:12 INFO: [Worker 0] Worker 0 starting house 7777 (index 89/116) [pipeline.py: 473] +05/27 15:58:12 INFO: [Worker 0] Loaded 1 episodes for house 7777 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 15:58:12 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 15:58:25 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7777_ceiling.xml [task_sampler.py: 797] +05/27 15:58:25 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7777, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 15:58:25 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 15:58:25 INFO: [Worker 0] randomize_scene: Setting poses for 41 objects [json_eval_task_sampler.py: 686] +05/27 15:58:25 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 15:58:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 15:58:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 15:58:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 15:58:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 15:58:25 INFO: [Worker 0] Sampled task 'Pick up the taper and place it next to the lighthouse with striped tower' [task_sampler.py: 1136] +05/27 15:58:25 INFO: [Worker 0] Worker 0 house 7777 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 15:58:25 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 16:09:58 INFO: [Worker 0] Worker 0 house 7777 episode 0 object objacandle_42ad9182fa98425c99bfd06e1aa33e18_1_0_5 completed with success=False [pipeline.py: 1114] +05/27 16:10:01 INFO: [Worker 0] Batching and saving trajectory data for house_7777: 1 episodes [pipeline.py: 233] +05/27 16:10:01 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 16:10:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 16:10:04 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7777 [save_utils.py: 703] +05/27 16:10:04 INFO: [Worker 0] Successfully saved trajectory data for house_7777 in 2.43s (batch: 2.34s, save: 0.09s) [pipeline.py: 280] +05/27 16:10:04 WARNING: [Worker 0] No trajectory data to save for house_7777 [pipeline.py: 229] +05/27 16:10:04 INFO: [Worker 0] Worker 0 completed house 7777: 0/1 successful episodes [pipeline.py: 1243] +05/27 16:10:04 INFO: [Worker 0] Worker 0 starting house 7868 (index 90/116) [pipeline.py: 473] +05/27 16:10:04 INFO: [Worker 0] Loaded 1 episodes for house 7868 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 16:10:04 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 16:10:21 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7868_ceiling.xml [task_sampler.py: 797] +05/27 16:10:21 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7868, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 16:10:21 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 16:10:21 INFO: [Worker 0] randomize_scene: Setting poses for 37 objects [json_eval_task_sampler.py: 686] +05/27 16:10:21 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 16:10:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 16:10:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 16:10:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 16:10:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 16:10:21 INFO: [Worker 0] Sampled task 'Pick up the gold ornament and place it next to the soft white pillow with quilting' [task_sampler.py: 1136] +05/27 16:10:21 INFO: [Worker 0] Worker 0 house 7868 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 16:10:21 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 16:11:56 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 16:20:16 INFO: [Worker 0] Worker 0 house 7868 episode 0 object objadecorativefixture_e14a2e218f6e4a588489e4b5508bff5e_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 16:20:19 INFO: [Worker 0] Batching and saving trajectory data for house_7868: 1 episodes [pipeline.py: 233] +05/27 16:20:19 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 16:20:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 16:20:22 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7868 [save_utils.py: 703] +05/27 16:20:22 INFO: [Worker 0] Successfully saved trajectory data for house_7868 in 2.70s (batch: 2.61s, save: 0.09s) [pipeline.py: 280] +05/27 16:20:23 WARNING: [Worker 0] No trajectory data to save for house_7868 [pipeline.py: 229] +05/27 16:20:23 INFO: [Worker 0] Worker 0 completed house 7868: 0/1 successful episodes [pipeline.py: 1243] +05/27 16:20:23 INFO: [Worker 0] Worker 0 starting house 7980 (index 91/116) [pipeline.py: 473] +05/27 16:20:23 INFO: [Worker 0] Loaded 1 episodes for house 7980 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 16:20:23 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 16:20:31 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7980_ceiling.xml [task_sampler.py: 797] +05/27 16:20:31 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7980, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 16:20:31 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 16:20:31 INFO: [Worker 0] randomize_scene: Setting poses for 35 objects [json_eval_task_sampler.py: 686] +05/27 16:20:31 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 16:20:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 16:20:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 16:20:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 16:20:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 16:20:31 INFO: [Worker 0] Sampled task 'Pick up the silver sturdy metal hinge and place it next to the smooth yellow apple with stem' [task_sampler.py: 1136] +05/27 16:20:31 INFO: [Worker 0] Worker 0 house 7980 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 16:20:31 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 16:22:07 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 16:28:40 INFO: [Worker 0] Worker 0 house 7980 episode 0 object objahinge_f2cfb95a05874d8eabb78f90efed2983_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 16:28:43 INFO: [Worker 0] Batching and saving trajectory data for house_7980: 1 episodes [pipeline.py: 233] +05/27 16:28:44 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 16:28:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 16:28:46 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7980 [save_utils.py: 703] +05/27 16:28:46 INFO: [Worker 0] Successfully saved trajectory data for house_7980 in 2.39s (batch: 2.30s, save: 0.09s) [pipeline.py: 280] +05/27 16:28:46 WARNING: [Worker 0] No trajectory data to save for house_7980 [pipeline.py: 229] +05/27 16:28:46 INFO: [Worker 0] Worker 0 completed house 7980: 0/1 successful episodes [pipeline.py: 1243] +05/27 16:28:46 INFO: [Worker 0] Worker 0 starting house 8081 (index 92/116) [pipeline.py: 473] +05/27 16:28:46 INFO: [Worker 0] Loaded 1 episodes for house 8081 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 16:28:46 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 16:28:54 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8081_ceiling.xml [task_sampler.py: 797] +05/27 16:28:54 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8081, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 16:28:54 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 16:28:55 INFO: [Worker 0] randomize_scene: Setting poses for 73 objects [json_eval_task_sampler.py: 686] +05/27 16:28:55 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 16:28:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 16:28:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 16:28:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 16:28:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 16:28:55 INFO: [Worker 0] Sampled task 'Pick up the white shell with blue accents and place it next to the bulbous shiny gold vase' [task_sampler.py: 1136] +05/27 16:28:55 INFO: [Worker 0] Worker 0 house 8081 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 16:28:55 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 16:28:55 WARNING: [Worker 0] Could not find object objachisel_47f47ebbca6b4b92ab51302a4bde91fd_1_0_4 in scene [object_manager.py: 1238] +05/27 16:30:31 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 16:44:46 INFO: [Worker 0] Worker 0 house 8081 episode 0 object objacasing_f7c919ec53a748038436a18cd83e6b3d_1_0_4 completed with success=False [pipeline.py: 1114] +05/27 16:44:50 INFO: [Worker 0] Batching and saving trajectory data for house_8081: 1 episodes [pipeline.py: 233] +05/27 16:44:50 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 16:44:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 16:44:52 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8081 [save_utils.py: 703] +05/27 16:44:52 INFO: [Worker 0] Successfully saved trajectory data for house_8081 in 2.46s (batch: 2.37s, save: 0.09s) [pipeline.py: 280] +05/27 16:44:53 WARNING: [Worker 0] No trajectory data to save for house_8081 [pipeline.py: 229] +05/27 16:44:53 INFO: [Worker 0] Worker 0 completed house 8081: 0/1 successful episodes [pipeline.py: 1243] +05/27 16:44:53 INFO: [Worker 0] Worker 0 starting house 8141 (index 93/116) [pipeline.py: 473] +05/27 16:44:53 INFO: [Worker 0] Loaded 1 episodes for house 8141 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 16:44:53 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 16:45:12 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8141_ceiling.xml [task_sampler.py: 797] +05/27 16:45:12 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8141, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 16:45:12 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 16:45:12 INFO: [Worker 0] randomize_scene: Setting poses for 75 objects [json_eval_task_sampler.py: 686] +05/27 16:45:12 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 16:45:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 16:45:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 16:45:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 16:45:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 16:45:12 INFO: [Worker 0] Sampled task 'Pick up the vessel and place it next to the smooth elongated tan loaf' [task_sampler.py: 1136] +05/27 16:45:12 INFO: [Worker 0] Worker 0 house 8141 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 16:45:12 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 16:47:01 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 17:01:03 INFO: [Worker 0] Worker 0 house 8141 episode 0 object objaflask_a9cedb7fc2d74f95ae7bc2b72960d3c6_1_0_8 completed with success=False [pipeline.py: 1114] +05/27 17:01:06 INFO: [Worker 0] Batching and saving trajectory data for house_8141: 1 episodes [pipeline.py: 233] +05/27 17:01:06 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 17:01:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 17:01:09 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8141 [save_utils.py: 703] +05/27 17:01:09 INFO: [Worker 0] Successfully saved trajectory data for house_8141 in 2.46s (batch: 2.37s, save: 0.09s) [pipeline.py: 280] +05/27 17:01:09 WARNING: [Worker 0] No trajectory data to save for house_8141 [pipeline.py: 229] +05/27 17:01:09 INFO: [Worker 0] Worker 0 completed house 8141: 0/1 successful episodes [pipeline.py: 1243] +05/27 17:01:09 INFO: [Worker 0] Worker 0 starting house 8232 (index 94/116) [pipeline.py: 473] +05/27 17:01:09 INFO: [Worker 0] Loaded 1 episodes for house 8232 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 17:01:09 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 17:01:30 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8232_ceiling.xml [task_sampler.py: 797] +05/27 17:01:30 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8232, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 17:01:30 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 17:01:30 INFO: [Worker 0] randomize_scene: Setting poses for 48 objects [json_eval_task_sampler.py: 686] +05/27 17:01:30 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 17:01:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 17:01:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 17:01:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 17:01:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 17:01:30 INFO: [Worker 0] Sampled task 'Pick up the brown bird and place it next to the bulbous shiny gold metallic vase' [task_sampler.py: 1136] +05/27 17:01:30 INFO: [Worker 0] Worker 0 house 8232 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 17:01:30 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 17:01:30 WARNING: [Worker 0] Could not find object objarunningshoe_98f45c9d6b3949fe9bf712b2773fc92e_1_0_5 in scene [object_manager.py: 1238] +05/27 17:01:30 WARNING: [Worker 0] Could not find object objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_5 in scene [object_manager.py: 1238] +05/27 17:01:30 WARNING: [Worker 0] Could not find object objareplicagrenade_7edd60c4948642b290d863898cacd3dd_1_0_6 in scene [object_manager.py: 1238] +05/27 17:01:30 WARNING: [Worker 0] Could not find object cup_a4bc4557e863c56d9b0accc2703dbbe4_1_0_6 in scene [object_manager.py: 1238] +05/27 17:04:42 INFO: [Worker 0] Worker 0 house 8232 episode 0 object objadecorativebird_b4371275a3d8455d861926a06e68f63b_1_0_7 completed with success=True [pipeline.py: 1114] +05/27 17:04:45 INFO: [Worker 0] Batching and saving trajectory data for house_8232: 1 episodes [pipeline.py: 233] +05/27 17:04:45 INFO: [Worker 0] Preparing episode data: 178 timesteps [save_utils.py: 284] +05/27 17:04:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 17:04:48 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8232 [save_utils.py: 703] +05/27 17:04:48 INFO: [Worker 0] Successfully saved trajectory data for house_8232 in 2.52s (batch: 2.46s, save: 0.06s) [pipeline.py: 280] +05/27 17:04:48 WARNING: [Worker 0] No trajectory data to save for house_8232 [pipeline.py: 229] +05/27 17:04:48 INFO: [Worker 0] Worker 0 completed house 8232: 1/1 successful episodes [pipeline.py: 1243] +05/27 17:04:48 INFO: [Worker 0] Worker 0 starting house 8312 (index 95/116) [pipeline.py: 473] +05/27 17:04:48 INFO: [Worker 0] Loaded 1 episodes for house 8312 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 17:04:48 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 17:04:56 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8312_ceiling.xml [task_sampler.py: 797] +05/27 17:04:56 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8312, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 17:04:56 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 17:04:56 INFO: [Worker 0] randomize_scene: Setting poses for 80 objects [json_eval_task_sampler.py: 686] +05/27 17:04:56 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 17:04:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 17:04:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 17:04:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 17:04:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 17:04:56 INFO: [Worker 0] Sampled task 'Pick up the black rubber mallet with wooden handle and place it next to the white 2% milk carton with branding' [task_sampler.py: 1136] +05/27 17:04:56 INFO: [Worker 0] Worker 0 house 8312 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 17:04:57 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 17:04:58 WARNING: [Worker 0] Could not find object objamodelblimp_38ffa448ceff406d987f4b71acab5fb2_2_0_2 in scene [object_manager.py: 1238] +05/27 17:04:58 WARNING: [Worker 0] Could not find object plate_b7993147fccc9ed6100d789b3917e22e_1_0_2 in scene [object_manager.py: 1238] +05/27 17:06:38 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 17:23:17 INFO: [Worker 0] Worker 0 house 8312 episode 0 object objarubbermallet_57fc7be2efcd4284a9514f05dbb51942_2_0_4 completed with success=False [pipeline.py: 1114] +05/27 17:23:21 INFO: [Worker 0] Batching and saving trajectory data for house_8312: 1 episodes [pipeline.py: 233] +05/27 17:23:21 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 17:23:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 17:23:23 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8312 [save_utils.py: 703] +05/27 17:23:23 INFO: [Worker 0] Successfully saved trajectory data for house_8312 in 2.72s (batch: 2.63s, save: 0.09s) [pipeline.py: 280] +05/27 17:23:24 WARNING: [Worker 0] No trajectory data to save for house_8312 [pipeline.py: 229] +05/27 17:23:24 INFO: [Worker 0] Worker 0 completed house 8312: 0/1 successful episodes [pipeline.py: 1243] +05/27 17:23:24 INFO: [Worker 0] Worker 0 starting house 8389 (index 96/116) [pipeline.py: 473] +05/27 17:23:24 INFO: [Worker 0] Loaded 1 episodes for house 8389 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 17:23:24 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 17:23:35 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8389_ceiling.xml [task_sampler.py: 797] +05/27 17:23:35 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8389, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 17:23:35 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 17:23:35 INFO: [Worker 0] randomize_scene: Setting poses for 56 objects [json_eval_task_sampler.py: 686] +05/27 17:23:35 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 17:23:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 17:23:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 17:23:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 17:23:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 17:23:35 INFO: [Worker 0] Sampled task 'Pick up the binoculars and place it next to the open shark jaws' [task_sampler.py: 1136] +05/27 17:23:35 INFO: [Worker 0] Worker 0 house 8389 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 17:23:35 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 17:25:16 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 17:38:35 INFO: [Worker 0] Worker 0 house 8389 episode 0 object objanightvisiongoggles_eae7cbfcd0ec4060bde31338845ea44c_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 17:38:38 INFO: [Worker 0] Batching and saving trajectory data for house_8389: 1 episodes [pipeline.py: 233] +05/27 17:38:38 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 17:38:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 17:38:41 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8389 [save_utils.py: 703] +05/27 17:38:41 INFO: [Worker 0] Successfully saved trajectory data for house_8389 in 2.72s (batch: 2.63s, save: 0.09s) [pipeline.py: 280] +05/27 17:38:42 WARNING: [Worker 0] No trajectory data to save for house_8389 [pipeline.py: 229] +05/27 17:38:42 INFO: [Worker 0] Worker 0 completed house 8389: 0/1 successful episodes [pipeline.py: 1243] +05/27 17:38:42 INFO: [Worker 0] Worker 0 starting house 8460 (index 97/116) [pipeline.py: 473] +05/27 17:38:42 INFO: [Worker 0] Loaded 1 episodes for house 8460 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 17:38:42 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 17:38:46 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8460_ceiling.xml [task_sampler.py: 797] +05/27 17:38:46 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8460, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 17:38:46 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 17:38:46 INFO: [Worker 0] randomize_scene: Setting poses for 34 objects [json_eval_task_sampler.py: 686] +05/27 17:38:46 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 17:38:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 17:38:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 17:38:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 17:38:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 17:38:46 INFO: [Worker 0] Sampled task 'Pick up the glossy square dark chocolate and place it next to the red tomato' [task_sampler.py: 1136] +05/27 17:38:46 INFO: [Worker 0] Worker 0 house 8460 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 17:38:46 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 17:48:44 INFO: [Worker 0] Worker 0 house 8460 episode 0 object objachocolatebar_38a2c03610004351acc0cce85ba022e2_3_0_6 completed with success=False [pipeline.py: 1114] +05/27 17:48:48 INFO: [Worker 0] Batching and saving trajectory data for house_8460: 1 episodes [pipeline.py: 233] +05/27 17:48:48 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 17:48:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 17:48:50 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8460 [save_utils.py: 703] +05/27 17:48:50 INFO: [Worker 0] Successfully saved trajectory data for house_8460 in 2.53s (batch: 2.43s, save: 0.09s) [pipeline.py: 280] +05/27 17:48:51 WARNING: [Worker 0] No trajectory data to save for house_8460 [pipeline.py: 229] +05/27 17:48:51 INFO: [Worker 0] Worker 0 completed house 8460: 0/1 successful episodes [pipeline.py: 1243] +05/27 17:48:51 INFO: [Worker 0] Worker 0 starting house 8542 (index 98/116) [pipeline.py: 473] +05/27 17:48:51 INFO: [Worker 0] Loaded 1 episodes for house 8542 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 17:48:51 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 17:48:52 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8542_ceiling.xml [task_sampler.py: 797] +05/27 17:48:52 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8542, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 17:48:52 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 17:48:52 INFO: [Worker 0] randomize_scene: Setting poses for 18 objects [json_eval_task_sampler.py: 686] +05/27 17:48:52 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 17:48:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 17:48:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 17:48:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 17:48:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 17:48:52 INFO: [Worker 0] Sampled task 'Pick up the yellow striped bee and place it next to the fresh medium green romaine lettuce' [task_sampler.py: 1136] +05/27 17:48:52 INFO: [Worker 0] Worker 0 house 8542 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 17:48:52 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 17:50:28 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 17:55:21 INFO: [Worker 0] Worker 0 house 8542 episode 0 object objadecorativeinsect_40804168b9a340d8935fa277c9e5de74_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 17:55:25 INFO: [Worker 0] Batching and saving trajectory data for house_8542: 1 episodes [pipeline.py: 233] +05/27 17:55:25 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 17:55:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 17:55:28 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8542 [save_utils.py: 703] +05/27 17:55:28 INFO: [Worker 0] Successfully saved trajectory data for house_8542 in 2.76s (batch: 2.67s, save: 0.09s) [pipeline.py: 280] +05/27 17:55:28 WARNING: [Worker 0] No trajectory data to save for house_8542 [pipeline.py: 229] +05/27 17:55:28 INFO: [Worker 0] Worker 0 completed house 8542: 0/1 successful episodes [pipeline.py: 1243] +05/27 17:55:28 INFO: [Worker 0] Worker 0 starting house 8648 (index 99/116) [pipeline.py: 473] +05/27 17:55:28 INFO: [Worker 0] Loaded 1 episodes for house 8648 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 17:55:28 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 17:55:41 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8648_ceiling.xml [task_sampler.py: 797] +05/27 17:55:41 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8648, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 17:55:41 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 17:55:41 INFO: [Worker 0] randomize_scene: Setting poses for 56 objects [json_eval_task_sampler.py: 686] +05/27 17:55:41 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 17:55:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 17:55:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 17:55:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 17:55:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 17:55:41 INFO: [Worker 0] Sampled task 'Pick up the compact handheld gimbal camera with screen and place it next to the golden brown artisanal bread' [task_sampler.py: 1136] +05/27 17:55:41 INFO: [Worker 0] Worker 0 house 8648 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 17:55:41 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 18:10:45 INFO: [Worker 0] Worker 0 house 8648 episode 0 object objagimbalcamera_13523a1c494f4a159aa90ac014c03221_1_0_8 completed with success=False [pipeline.py: 1114] +05/27 18:10:49 INFO: [Worker 0] Batching and saving trajectory data for house_8648: 1 episodes [pipeline.py: 233] +05/27 18:10:49 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 18:10:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 18:10:52 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8648 [save_utils.py: 703] +05/27 18:10:52 INFO: [Worker 0] Successfully saved trajectory data for house_8648 in 2.74s (batch: 2.65s, save: 0.09s) [pipeline.py: 280] +05/27 18:10:52 WARNING: [Worker 0] No trajectory data to save for house_8648 [pipeline.py: 229] +05/27 18:10:52 INFO: [Worker 0] Worker 0 completed house 8648: 0/1 successful episodes [pipeline.py: 1243] +05/27 18:10:52 INFO: [Worker 0] Worker 0 starting house 8725 (index 100/116) [pipeline.py: 473] +05/27 18:10:52 INFO: [Worker 0] Loaded 1 episodes for house 8725 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 18:10:52 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 18:11:07 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8725_ceiling.xml [task_sampler.py: 797] +05/27 18:11:07 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8725, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 18:11:07 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 18:11:07 INFO: [Worker 0] randomize_scene: Setting poses for 55 objects [json_eval_task_sampler.py: 686] +05/27 18:11:08 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 18:11:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 18:11:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 18:11:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 18:11:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 18:11:08 INFO: [Worker 0] Sampled task 'Pick up the white remote control with colorful buttons and place it next to the smooth green rectangular pillow' [task_sampler.py: 1136] +05/27 18:11:08 INFO: [Worker 0] Worker 0 house 8725 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 18:11:08 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 18:12:43 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 18:24:24 INFO: [Worker 0] Worker 0 house 8725 episode 0 object objaremotecontrol_d72eebbf82be48f0a53e7e8b712e6a66_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 18:24:28 INFO: [Worker 0] Batching and saving trajectory data for house_8725: 1 episodes [pipeline.py: 233] +05/27 18:24:28 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 18:24:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 18:24:30 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8725 [save_utils.py: 703] +05/27 18:24:30 INFO: [Worker 0] Successfully saved trajectory data for house_8725 in 2.82s (batch: 2.72s, save: 0.09s) [pipeline.py: 280] +05/27 18:24:31 WARNING: [Worker 0] No trajectory data to save for house_8725 [pipeline.py: 229] +05/27 18:24:31 INFO: [Worker 0] Worker 0 completed house 8725: 0/1 successful episodes [pipeline.py: 1243] +05/27 18:24:31 INFO: [Worker 0] Worker 0 starting house 8833 (index 101/116) [pipeline.py: 473] +05/27 18:24:31 INFO: [Worker 0] Loaded 1 episodes for house 8833 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 18:24:31 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 18:24:44 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8833_ceiling.xml [task_sampler.py: 797] +05/27 18:24:44 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8833, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 18:24:44 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 18:24:44 INFO: [Worker 0] randomize_scene: Setting poses for 38 objects [json_eval_task_sampler.py: 686] +05/27 18:24:44 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 18:24:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 18:24:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 18:24:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 18:24:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 18:24:44 INFO: [Worker 0] Sampled task 'Pick up the butt hinge and place it next to the yellowed parchment with red wax seal' [task_sampler.py: 1136] +05/27 18:24:44 INFO: [Worker 0] Worker 0 house 8833 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 18:24:44 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 18:24:44 WARNING: [Worker 0] Could not find object objawalkingstick_4f178c32dc494b5e8c57e6f7673bf3c9_1_0_2 in scene [object_manager.py: 1238] +05/27 18:26:24 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 18:28:15 INFO: [Worker 0] Worker 0 house 8833 episode 0 object objahinge_1ffa7463a95647c5bc8c07359ff161ae_1_0_6 completed with success=True [pipeline.py: 1114] +05/27 18:28:19 INFO: [Worker 0] Batching and saving trajectory data for house_8833: 1 episodes [pipeline.py: 233] +05/27 18:28:19 INFO: [Worker 0] Preparing episode data: 90 timesteps [save_utils.py: 284] +05/27 18:28:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 18:28:21 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8833 [save_utils.py: 703] +05/27 18:28:21 INFO: [Worker 0] Successfully saved trajectory data for house_8833 in 2.18s (batch: 2.15s, save: 0.04s) [pipeline.py: 280] +05/27 18:28:21 WARNING: [Worker 0] No trajectory data to save for house_8833 [pipeline.py: 229] +05/27 18:28:21 INFO: [Worker 0] Worker 0 completed house 8833: 1/1 successful episodes [pipeline.py: 1243] +05/27 18:28:21 INFO: [Worker 0] Worker 0 starting house 8884 (index 102/116) [pipeline.py: 473] +05/27 18:28:21 INFO: [Worker 0] Loaded 1 episodes for house 8884 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 18:28:21 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 18:28:40 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/27 18:28:43 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8884_ceiling.xml [task_sampler.py: 797] +05/27 18:28:43 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8884, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 18:28:43 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 18:28:43 INFO: [Worker 0] randomize_scene: Setting poses for 58 objects [json_eval_task_sampler.py: 686] +05/27 18:28:43 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 18:28:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 18:28:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 18:28:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 18:28:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 18:28:43 INFO: [Worker 0] Sampled task 'Pick up the handmirror and place it next to the medieval soldier with spear' [task_sampler.py: 1136] +05/27 18:28:43 INFO: [Worker 0] Worker 0 house 8884 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 18:28:43 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 18:28:43 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene [object_manager.py: 1238] +05/27 18:28:43 WARNING: [Worker 0] Could not find object objalantern_4cdb208ff30a4e5493f73fef6246604d_1_0_7 in scene [object_manager.py: 1238] +05/27 18:28:43 WARNING: [Worker 0] Could not find object objalighter_b4f0807272244a82aae694536db1b0b2_1_0_7 in scene [object_manager.py: 1238] +05/27 18:42:43 INFO: [Worker 0] Worker 0 house 8884 episode 0 object objahandmirror_a3348d3e4a674350af738e8cf20ec378_1_0_4 completed with success=False [pipeline.py: 1114] +05/27 18:42:47 INFO: [Worker 0] Batching and saving trajectory data for house_8884: 1 episodes [pipeline.py: 233] +05/27 18:42:47 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 18:42:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 18:42:50 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8884 [save_utils.py: 703] +05/27 18:42:50 INFO: [Worker 0] Successfully saved trajectory data for house_8884 in 2.80s (batch: 2.70s, save: 0.09s) [pipeline.py: 280] +05/27 18:42:51 WARNING: [Worker 0] No trajectory data to save for house_8884 [pipeline.py: 229] +05/27 18:42:51 INFO: [Worker 0] Worker 0 completed house 8884: 0/1 successful episodes [pipeline.py: 1243] +05/27 18:42:51 INFO: [Worker 0] Worker 0 starting house 8972 (index 103/116) [pipeline.py: 473] +05/27 18:42:51 INFO: [Worker 0] Loaded 1 episodes for house 8972 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 18:42:51 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 18:42:59 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8972_ceiling.xml [task_sampler.py: 797] +05/27 18:42:59 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8972, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 18:42:59 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 18:42:59 INFO: [Worker 0] randomize_scene: Setting poses for 35 objects [json_eval_task_sampler.py: 686] +05/27 18:42:59 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 18:43:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 18:43:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 18:43:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 18:43:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 18:43:00 INFO: [Worker 0] Sampled task 'Pick up the black cast iron teapot with autumn leaves and place it next to the red conical flower with leaves' [task_sampler.py: 1136] +05/27 18:43:00 INFO: [Worker 0] Worker 0 house 8972 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 18:43:00 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 18:44:42 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 18:53:02 INFO: [Worker 0] Worker 0 house 8972 episode 0 object objateapot_50ac7cdcf9b440a78a9243f8fab4ff53_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 18:53:05 INFO: [Worker 0] Batching and saving trajectory data for house_8972: 1 episodes [pipeline.py: 233] +05/27 18:53:06 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 18:53:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 18:53:08 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8972 [save_utils.py: 703] +05/27 18:53:08 INFO: [Worker 0] Successfully saved trajectory data for house_8972 in 2.51s (batch: 2.42s, save: 0.09s) [pipeline.py: 280] +05/27 18:53:09 WARNING: [Worker 0] No trajectory data to save for house_8972 [pipeline.py: 229] +05/27 18:53:09 INFO: [Worker 0] Worker 0 completed house 8972: 0/1 successful episodes [pipeline.py: 1243] +05/27 18:53:09 INFO: [Worker 0] Worker 0 starting house 9024 (index 104/116) [pipeline.py: 473] +05/27 18:53:09 INFO: [Worker 0] Loaded 1 episodes for house 9024 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 18:53:09 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 18:53:20 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9024_ceiling.xml [task_sampler.py: 797] +05/27 18:53:20 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9024, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 18:53:20 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 18:53:20 INFO: [Worker 0] randomize_scene: Setting poses for 52 objects [json_eval_task_sampler.py: 686] +05/27 18:53:20 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 18:53:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 18:53:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 18:53:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 18:53:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 18:53:20 INFO: [Worker 0] Sampled task 'Pick up the black decorative sign with guitar and place it next to the blue handled scissors' [task_sampler.py: 1136] +05/27 18:53:20 INFO: [Worker 0] Worker 0 house 9024 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 18:53:20 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 18:54:57 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 19:07:32 INFO: [Worker 0] Worker 0 house 9024 episode 0 object objadecorativesign_b44dd97814b44a049bd81501c6850bcf_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 19:07:36 INFO: [Worker 0] Batching and saving trajectory data for house_9024: 1 episodes [pipeline.py: 233] +05/27 19:07:36 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 19:07:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 19:07:38 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9024 [save_utils.py: 703] +05/27 19:07:38 INFO: [Worker 0] Successfully saved trajectory data for house_9024 in 2.74s (batch: 2.62s, save: 0.12s) [pipeline.py: 280] +05/27 19:07:39 WARNING: [Worker 0] No trajectory data to save for house_9024 [pipeline.py: 229] +05/27 19:07:39 INFO: [Worker 0] Worker 0 completed house 9024: 0/1 successful episodes [pipeline.py: 1243] +05/27 19:07:39 INFO: [Worker 0] Worker 0 starting house 9092 (index 105/116) [pipeline.py: 473] +05/27 19:07:39 INFO: [Worker 0] Loaded 1 episodes for house 9092 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 19:07:39 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 19:08:07 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9092_ceiling.xml [task_sampler.py: 797] +05/27 19:08:07 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9092, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 19:08:07 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 19:08:07 INFO: [Worker 0] randomize_scene: Setting poses for 77 objects [json_eval_task_sampler.py: 686] +05/27 19:08:07 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 19:08:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 19:08:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 19:08:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 19:08:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 19:08:07 INFO: [Worker 0] Sampled task 'Pick up the sharp kitchen knife with wooden handle and place it next to the compact blue toaster' [task_sampler.py: 1136] +05/27 19:08:07 INFO: [Worker 0] Worker 0 house 9092 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 19:08:07 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 19:28:14 INFO: [Worker 0] Worker 0 house 9092 episode 0 object objakitchenknife_ab324ce501ee4ce9a35f3df76817dcfb_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 19:28:17 INFO: [Worker 0] Batching and saving trajectory data for house_9092: 1 episodes [pipeline.py: 233] +05/27 19:28:19 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 19:28:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 19:28:22 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9092 [save_utils.py: 703] +05/27 19:28:22 INFO: [Worker 0] Successfully saved trajectory data for house_9092 in 2.52s (batch: 2.41s, save: 0.10s) [pipeline.py: 280] +05/27 19:28:22 WARNING: [Worker 0] No trajectory data to save for house_9092 [pipeline.py: 229] +05/27 19:28:22 INFO: [Worker 0] Worker 0 completed house 9092: 0/1 successful episodes [pipeline.py: 1243] +05/27 19:28:22 INFO: [Worker 0] Worker 0 starting house 9163 (index 106/116) [pipeline.py: 473] +05/27 19:28:22 INFO: [Worker 0] Loaded 1 episodes for house 9163 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 19:28:22 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 19:28:42 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9163_ceiling.xml [task_sampler.py: 797] +05/27 19:28:42 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9163, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 19:28:42 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 19:28:42 INFO: [Worker 0] randomize_scene: Setting poses for 53 objects [json_eval_task_sampler.py: 686] +05/27 19:28:42 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 19:28:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 19:28:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 19:28:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 19:28:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 19:28:42 INFO: [Worker 0] Sampled task 'Pick up the wall hook and place it next to the yellow vase' [task_sampler.py: 1136] +05/27 19:28:42 INFO: [Worker 0] Worker 0 house 9163 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 19:28:42 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 19:28:42 WARNING: [Worker 0] Could not find object objadentures_46145e0221e94a3185b215c07d0f4340_1_0_7 in scene [object_manager.py: 1238] +05/27 19:28:42 WARNING: [Worker 0] Could not find object objatoiletpaperroll_d72efd4c78e146d88aeff93a721c5330_1_0_7 in scene [object_manager.py: 1238] +05/27 19:30:18 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 19:44:17 INFO: [Worker 0] Worker 0 house 9163 episode 0 object objawallhook_7326578d9a0947e3890e8d50db79a033_1_0_4 completed with success=False [pipeline.py: 1114] +05/27 19:44:21 INFO: [Worker 0] Batching and saving trajectory data for house_9163: 1 episodes [pipeline.py: 233] +05/27 19:44:21 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 19:44:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 19:44:24 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9163 [save_utils.py: 703] +05/27 19:44:24 INFO: [Worker 0] Successfully saved trajectory data for house_9163 in 2.80s (batch: 2.71s, save: 0.09s) [pipeline.py: 280] +05/27 19:44:25 WARNING: [Worker 0] No trajectory data to save for house_9163 [pipeline.py: 229] +05/27 19:44:25 INFO: [Worker 0] Worker 0 completed house 9163: 0/1 successful episodes [pipeline.py: 1243] +05/27 19:44:25 INFO: [Worker 0] Worker 0 starting house 9187 (index 107/116) [pipeline.py: 473] +05/27 19:44:25 INFO: [Worker 0] Loaded 2 episodes for house 9187 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 19:44:25 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 19:44:33 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9187_ceiling.xml [task_sampler.py: 797] +05/27 19:44:33 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9187, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 19:44:33 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 19:44:33 INFO: [Worker 0] randomize_scene: Setting poses for 67 objects [json_eval_task_sampler.py: 686] +05/27 19:44:33 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 19:44:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 19:44:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 19:44:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 19:44:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 19:44:33 INFO: [Worker 0] Sampled task 'Pick up the small green seedling in terracotta pot and place it next to the medium cardboard box with flaps' [task_sampler.py: 1136] +05/27 19:44:33 INFO: [Worker 0] Worker 0 house 9187 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/27 19:44:33 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 19:44:33 WARNING: [Worker 0] Could not find object objaswitchplate_80ed82d00f494be2b5a8706d3c06c832_1_0_5 in scene [object_manager.py: 1238] +05/27 19:44:33 WARNING: [Worker 0] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene [object_manager.py: 1238] +05/27 19:44:33 WARNING: [Worker 0] Could not find object objaduck_7db7cf276de344fca99a29c88bb1e7df_1_0_8 in scene [object_manager.py: 1238] +05/27 19:44:33 WARNING: [Worker 0] Could not find object cup_10a41d8e2f259cb0d60e0069b1683f0a_1_0_8 in scene [object_manager.py: 1238] +05/27 19:46:15 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 19:59:38 INFO: [Worker 0] Worker 0 house 9187 episode 0 object objaplantpot_51030882447e428a8efec83649ee3172_1_0_9 completed with success=False [pipeline.py: 1114] +05/27 19:59:41 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 19:59:46 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9187_ceiling.xml [task_sampler.py: 797] +05/27 19:59:46 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9187, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 19:59:46 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 19:59:46 INFO: [Worker 0] randomize_scene: Setting poses for 67 objects [json_eval_task_sampler.py: 686] +05/27 19:59:46 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 19:59:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 19:59:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 19:59:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 19:59:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 19:59:46 INFO: [Worker 0] Sampled task 'Pick up the glossy slender curved green stick and place it next to the metal spear' [task_sampler.py: 1136] +05/27 19:59:46 INFO: [Worker 0] Worker 0 house 9187 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/27 19:59:46 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 19:59:46 WARNING: [Worker 0] Could not find object objaswitchplate_80ed82d00f494be2b5a8706d3c06c832_1_0_5 in scene [object_manager.py: 1238] +05/27 19:59:46 WARNING: [Worker 0] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene [object_manager.py: 1238] +05/27 19:59:46 WARNING: [Worker 0] Could not find object objaduck_7db7cf276de344fca99a29c88bb1e7df_1_0_8 in scene [object_manager.py: 1238] +05/27 19:59:46 WARNING: [Worker 0] Could not find object cup_10a41d8e2f259cb0d60e0069b1683f0a_1_0_8 in scene [object_manager.py: 1238] +05/27 20:01:21 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 20:14:30 INFO: [Worker 0] Worker 0 house 9187 episode 1 object objadecorativerod_3dd7a9dee7234665826875b678fac3eb_1_0_9 completed with success=False [pipeline.py: 1114] +05/27 20:14:33 INFO: [Worker 0] Batching and saving trajectory data for house_9187: 2 episodes [pipeline.py: 233] +05/27 20:14:33 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 20:14:36 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 20:14:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 20:14:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 20:14:39 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9187 [save_utils.py: 703] +05/27 20:14:39 INFO: [Worker 0] Successfully saved trajectory data for house_9187 in 5.43s (batch: 5.26s, save: 0.17s) [pipeline.py: 280] +05/27 20:14:39 WARNING: [Worker 0] No trajectory data to save for house_9187 [pipeline.py: 229] +05/27 20:14:39 INFO: [Worker 0] Worker 0 completed house 9187: 0/2 successful episodes [pipeline.py: 1243] +05/27 20:14:39 INFO: [Worker 0] Worker 0 starting house 9252 (index 108/116) [pipeline.py: 473] +05/27 20:14:39 INFO: [Worker 0] Loaded 1 episodes for house 9252 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 20:14:39 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 20:14:54 INFO: [Worker 0] Deleted 2 blacklisted bodies from scene [scene_maps.py: 66] +05/27 20:14:58 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9252_ceiling.xml [task_sampler.py: 797] +05/27 20:14:58 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9252, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 20:14:58 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 20:14:58 INFO: [Worker 0] randomize_scene: Setting poses for 89 objects [json_eval_task_sampler.py: 686] +05/27 20:14:58 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 20:14:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 20:14:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 20:14:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 20:14:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 20:14:58 INFO: [Worker 0] Sampled task 'Pick up the green smoke grenade and place it next to the small brown oval potato' [task_sampler.py: 1136] +05/27 20:14:58 INFO: [Worker 0] Worker 0 house 9252 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 20:14:58 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 20:14:58 WARNING: [Worker 0] Could not find object objaminiaturelighthouse_bde6dcab0a89413eba4422da59f19cef_1_0_5 in scene [object_manager.py: 1238] +05/27 20:14:58 WARNING: [Worker 0] Could not find object objadecorativesymbol_096e1889564d4e9c8836c7805c1ecebf_1_0_5 in scene [object_manager.py: 1238] +05/27 20:14:58 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene [object_manager.py: 1238] +05/27 20:14:58 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_2_0_7 in scene [object_manager.py: 1238] +05/27 20:16:35 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 20:32:25 INFO: [Worker 0] Worker 0 house 9252 episode 0 object objasmokegrenade_6dbb48151a9147b4830aa7bf55fc8282_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 20:32:28 INFO: [Worker 0] Batching and saving trajectory data for house_9252: 1 episodes [pipeline.py: 233] +05/27 20:32:28 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 20:32:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 20:32:31 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9252 [save_utils.py: 703] +05/27 20:32:31 INFO: [Worker 0] Successfully saved trajectory data for house_9252 in 2.45s (batch: 2.36s, save: 0.09s) [pipeline.py: 280] +05/27 20:32:31 WARNING: [Worker 0] No trajectory data to save for house_9252 [pipeline.py: 229] +05/27 20:32:31 INFO: [Worker 0] Worker 0 completed house 9252: 0/1 successful episodes [pipeline.py: 1243] +05/27 20:32:31 INFO: [Worker 0] Worker 0 starting house 9320 (index 109/116) [pipeline.py: 473] +05/27 20:32:31 INFO: [Worker 0] Loaded 1 episodes for house 9320 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 20:32:31 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 20:32:36 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9320_ceiling.xml [task_sampler.py: 797] +05/27 20:32:36 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9320, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 20:32:36 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 20:32:36 INFO: [Worker 0] randomize_scene: Setting poses for 21 objects [json_eval_task_sampler.py: 686] +05/27 20:32:36 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 20:32:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 20:32:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 20:32:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 20:32:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 20:32:36 INFO: [Worker 0] Sampled task 'Pick up the dark stone cylindrical seal with carvings and place it next to the dark metal cooking pot' [task_sampler.py: 1136] +05/27 20:32:36 INFO: [Worker 0] Worker 0 house 9320 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 20:32:36 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 20:40:24 INFO: [Worker 0] Worker 0 house 9320 episode 0 object objacylinderseal_faa5a6851ee44affa0655094c13fd3b0_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 20:40:27 INFO: [Worker 0] Batching and saving trajectory data for house_9320: 1 episodes [pipeline.py: 233] +05/27 20:40:27 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 20:40:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 20:40:30 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9320 [save_utils.py: 703] +05/27 20:40:30 INFO: [Worker 0] Successfully saved trajectory data for house_9320 in 2.47s (batch: 2.38s, save: 0.09s) [pipeline.py: 280] +05/27 20:40:31 WARNING: [Worker 0] No trajectory data to save for house_9320 [pipeline.py: 229] +05/27 20:40:31 INFO: [Worker 0] Worker 0 completed house 9320: 0/1 successful episodes [pipeline.py: 1243] +05/27 20:40:31 INFO: [Worker 0] Worker 0 starting house 9423 (index 110/116) [pipeline.py: 473] +05/27 20:40:31 INFO: [Worker 0] Loaded 1 episodes for house 9423 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 20:40:31 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 20:41:06 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9423_ceiling.xml [task_sampler.py: 797] +05/27 20:41:06 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9423, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 20:41:06 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 20:41:06 INFO: [Worker 0] randomize_scene: Setting poses for 75 objects [json_eval_task_sampler.py: 686] +05/27 20:41:06 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 20:41:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 20:41:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 20:41:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 20:41:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 20:41:06 INFO: [Worker 0] Sampled task 'Pick up the dark horse knight chess piece and place it next to the light gray wooden bowl' [task_sampler.py: 1136] +05/27 20:41:06 INFO: [Worker 0] Worker 0 house 9423 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 20:41:06 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 20:42:42 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 20:57:36 INFO: [Worker 0] Worker 0 house 9423 episode 0 object objachesspiece_d7e344aa00cc462586cede69e49613fd_1_0_3 completed with success=False [pipeline.py: 1114] +05/27 20:57:40 INFO: [Worker 0] Batching and saving trajectory data for house_9423: 1 episodes [pipeline.py: 233] +05/27 20:57:40 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 20:57:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 20:57:42 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9423 [save_utils.py: 703] +05/27 20:57:42 INFO: [Worker 0] Successfully saved trajectory data for house_9423 in 2.62s (batch: 2.53s, save: 0.09s) [pipeline.py: 280] +05/27 20:57:43 WARNING: [Worker 0] No trajectory data to save for house_9423 [pipeline.py: 229] +05/27 20:57:43 INFO: [Worker 0] Worker 0 completed house 9423: 0/1 successful episodes [pipeline.py: 1243] +05/27 20:57:43 INFO: [Worker 0] Worker 0 starting house 9502 (index 111/116) [pipeline.py: 473] +05/27 20:57:43 INFO: [Worker 0] Loaded 1 episodes for house 9502 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 20:57:43 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 20:58:14 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9502_ceiling.xml [task_sampler.py: 797] +05/27 20:58:14 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9502, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 20:58:14 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 20:58:14 INFO: [Worker 0] randomize_scene: Setting poses for 74 objects [json_eval_task_sampler.py: 686] +05/27 20:58:14 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 20:58:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 20:58:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 20:58:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 20:58:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 20:58:14 INFO: [Worker 0] Sampled task 'Pick up the intricate dark wooden molding with carvings and place it next to the large mottled bone vertebra' [task_sampler.py: 1136] +05/27 20:58:14 INFO: [Worker 0] Worker 0 house 9502 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 20:58:14 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 20:58:14 WARNING: [Worker 0] Could not find object objasign_34df7c8bc2604403b69cfda448a2ff8e_1_0_3 in scene [object_manager.py: 1238] +05/27 20:59:52 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 21:14:17 INFO: [Worker 0] Worker 0 house 9502 episode 0 object objamolding_0cec9637549f4355a4067cbf732f028f_1_0_3 completed with success=False [pipeline.py: 1114] +05/27 21:14:20 INFO: [Worker 0] Batching and saving trajectory data for house_9502: 1 episodes [pipeline.py: 233] +05/27 21:14:20 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 21:14:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 21:14:23 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9502 [save_utils.py: 703] +05/27 21:14:23 INFO: [Worker 0] Successfully saved trajectory data for house_9502 in 2.42s (batch: 2.33s, save: 0.09s) [pipeline.py: 280] +05/27 21:14:23 WARNING: [Worker 0] No trajectory data to save for house_9502 [pipeline.py: 229] +05/27 21:14:23 INFO: [Worker 0] Worker 0 completed house 9502: 0/1 successful episodes [pipeline.py: 1243] +05/27 21:14:23 INFO: [Worker 0] Worker 0 starting house 9588 (index 112/116) [pipeline.py: 473] +05/27 21:14:23 INFO: [Worker 0] Loaded 1 episodes for house 9588 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 21:14:23 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 21:15:01 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9588_ceiling.xml [task_sampler.py: 797] +05/27 21:15:01 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9588, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 21:15:01 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 21:15:01 INFO: [Worker 0] randomize_scene: Setting poses for 29 objects [json_eval_task_sampler.py: 686] +05/27 21:15:01 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 21:15:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 21:15:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 21:15:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 21:15:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 21:15:01 INFO: [Worker 0] Sampled task 'Pick up the triangular pink cheese wedge and place it next to the green apple' [task_sampler.py: 1136] +05/27 21:15:01 INFO: [Worker 0] Worker 0 house 9588 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 21:15:01 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 21:15:01 WARNING: [Worker 0] Could not find object objarubbermallet_f6f3eee2d418463bbab1abe93e274d60_1_0_2 in scene [object_manager.py: 1238] +05/27 21:15:01 WARNING: [Worker 0] Could not find object tomato_b4fe73bc978b2372694676fd9d6ef462_1_0_2 in scene [object_manager.py: 1238] +05/27 21:16:37 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 21:22:52 INFO: [Worker 0] Worker 0 house 9588 episode 0 object objacheese_b945c8c26cf540229510b7d9e65f98c7_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 21:22:55 INFO: [Worker 0] Batching and saving trajectory data for house_9588: 1 episodes [pipeline.py: 233] +05/27 21:22:55 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 21:22:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 21:22:57 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9588 [save_utils.py: 703] +05/27 21:22:57 INFO: [Worker 0] Successfully saved trajectory data for house_9588 in 2.41s (batch: 2.32s, save: 0.09s) [pipeline.py: 280] +05/27 21:22:58 WARNING: [Worker 0] No trajectory data to save for house_9588 [pipeline.py: 229] +05/27 21:22:58 INFO: [Worker 0] Worker 0 completed house 9588: 0/1 successful episodes [pipeline.py: 1243] +05/27 21:22:58 INFO: [Worker 0] Worker 0 starting house 9651 (index 113/116) [pipeline.py: 473] +05/27 21:22:58 INFO: [Worker 0] Loaded 1 episodes for house 9651 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 21:22:58 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 21:23:14 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/27 21:23:17 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9651_ceiling.xml [task_sampler.py: 797] +05/27 21:23:17 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9651, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 21:23:17 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 21:23:17 INFO: [Worker 0] randomize_scene: Setting poses for 55 objects [json_eval_task_sampler.py: 686] +05/27 21:23:17 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 21:23:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 21:23:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 21:23:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 21:23:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 21:23:17 INFO: [Worker 0] Sampled task 'Pick up the blocky wooden hourglass with sand and place it next to the slim blue phone device' [task_sampler.py: 1136] +05/27 21:23:17 INFO: [Worker 0] Worker 0 house 9651 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 21:23:17 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 21:23:17 WARNING: [Worker 0] Could not find object objaceilingpanel_8bde878be8dd4fb7b6914db9c4dd31bb_1_0_6 in scene [object_manager.py: 1238] +05/27 21:24:54 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 21:37:30 INFO: [Worker 0] Worker 0 house 9651 episode 0 object objahourglass_e278f37f71ac4e2e980c6ef53899c2d7_1_0_8 completed with success=False [pipeline.py: 1114] +05/27 21:37:33 INFO: [Worker 0] Batching and saving trajectory data for house_9651: 1 episodes [pipeline.py: 233] +05/27 21:37:33 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 21:37:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 21:37:36 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9651 [save_utils.py: 703] +05/27 21:37:36 INFO: [Worker 0] Successfully saved trajectory data for house_9651 in 2.73s (batch: 2.64s, save: 0.09s) [pipeline.py: 280] +05/27 21:37:37 WARNING: [Worker 0] No trajectory data to save for house_9651 [pipeline.py: 229] +05/27 21:37:37 INFO: [Worker 0] Worker 0 completed house 9651: 0/1 successful episodes [pipeline.py: 1243] +05/27 21:37:37 INFO: [Worker 0] Worker 0 starting house 9727 (index 114/116) [pipeline.py: 473] +05/27 21:37:37 INFO: [Worker 0] Loaded 1 episodes for house 9727 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 21:37:37 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 21:37:43 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9727_ceiling.xml [task_sampler.py: 797] +05/27 21:37:43 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9727, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 21:37:43 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 21:37:43 INFO: [Worker 0] randomize_scene: Setting poses for 46 objects [json_eval_task_sampler.py: 686] +05/27 21:37:43 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 21:37:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 21:37:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 21:37:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 21:37:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 21:37:43 INFO: [Worker 0] Sampled task 'Pick up the dark stone cylindrical seal with carvings and place it next to the brown fish with large eyes' [task_sampler.py: 1136] +05/27 21:37:43 INFO: [Worker 0] Worker 0 house 9727 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 21:37:43 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 21:37:43 WARNING: [Worker 0] Could not find object vase_d568e4c5c2948c69c05d527517276b06_1_0_2 in scene [object_manager.py: 1238] +05/27 21:48:29 INFO: [Worker 0] Worker 0 house 9727 episode 0 object objacylinderseal_faa5a6851ee44affa0655094c13fd3b0_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 21:48:32 INFO: [Worker 0] Batching and saving trajectory data for house_9727: 1 episodes [pipeline.py: 233] +05/27 21:48:32 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 21:48:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 21:48:35 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9727 [save_utils.py: 703] +05/27 21:48:35 INFO: [Worker 0] Successfully saved trajectory data for house_9727 in 2.66s (batch: 2.57s, save: 0.09s) [pipeline.py: 280] +05/27 21:48:36 WARNING: [Worker 0] No trajectory data to save for house_9727 [pipeline.py: 229] +05/27 21:48:36 INFO: [Worker 0] Worker 0 completed house 9727: 0/1 successful episodes [pipeline.py: 1243] +05/27 21:48:36 INFO: [Worker 0] Worker 0 starting house 9887 (index 115/116) [pipeline.py: 473] +05/27 21:48:36 INFO: [Worker 0] Loaded 1 episodes for house 9887 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 [json_eval_runner.py: 278] +05/27 21:48:36 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 21:48:51 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9887_ceiling.xml [task_sampler.py: 797] +05/27 21:48:51 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9887, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 21:48:51 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 21:48:51 INFO: [Worker 0] randomize_scene: Setting poses for 74 objects [json_eval_task_sampler.py: 686] +05/27 21:48:51 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 21:48:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 21:48:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 21:48:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 21:48:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 21:48:51 INFO: [Worker 0] Sampled task 'Pick up the stoneaxe and place it next to the white hardcover academic book' [task_sampler.py: 1136] +05/27 21:48:51 INFO: [Worker 0] Worker 0 house 9887 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 21:48:51 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 21:48:51 WARNING: [Worker 0] Could not find object objatube_747652d3308142278b333f1e2ee13549_1_0_9 in scene [object_manager.py: 1238] +05/27 22:06:44 INFO: [Worker 0] Worker 0 house 9887 episode 0 object objastoneaxe_11654de384f440d7ba70c71febdff3cc_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 22:06:48 INFO: [Worker 0] Batching and saving trajectory data for house_9887: 1 episodes [pipeline.py: 233] +05/27 22:06:48 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 22:06:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 22:06:51 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9887 [save_utils.py: 703] +05/27 22:06:51 INFO: [Worker 0] Successfully saved trajectory data for house_9887 in 2.69s (batch: 2.60s, save: 0.09s) [pipeline.py: 280] +05/27 22:06:51 WARNING: [Worker 0] No trajectory data to save for house_9887 [pipeline.py: 229] +05/27 22:06:51 INFO: [Worker 0] Worker 0 completed house 9887: 0/1 successful episodes [pipeline.py: 1243] +05/27 22:06:51 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 526] +05/27 22:06:52 INFO: Completed 116 houses, skipped 0 houses [pipeline.py: 1496] +05/27 22:06:52 INFO: Success count: 8, Total count: 120 [pipeline.py: 1499] +05/27 22:06:52 INFO: Success rate: 6.67% [pipeline.py: 1500] diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/episode_results.jsonl b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/episode_results.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cee4edd5904703a3332c38fa50ebd562b56dbf31 --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/episode_results.jsonl @@ -0,0 +1,120 @@ +{"house_id": "house_1058", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the lepidopteran and place it next to the brown rectangular bread", "object_name": "objamoth_c776c4a1d0a447388a8808dab3817af9_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1058/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1180", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark floral mug and place it next to the transparent tall wine glass", "object_name": "objamug_a30aab65d235438bbfc6699faaea762d_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1180/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1260", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the loudspeaker and place it next to the teal hardcover book with colorful spine", "object_name": "objasmartspeaker_0e9d0a055dde4d83b7fd53d8b7465916_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1260/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1332", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the yellow handled polished kitchen knife and place it next to the rectangular dark non-stick frying pan", "object_name": "knife_8409451f726b7f0640a91ddd7ae630cf_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1332/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1399", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 319, "task_description": "Pick up the compact holographic weapon sight and place it next to the rectangular pillow with earthy stripes", "object_name": "objaweaponsight_a7323938c943423a8a7adb8656b0168f_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1399/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1536", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gold foil chocolate bunny and place it next to the dark glossy hardcover book with gold", "object_name": "objachocolatebunny_3fd78d69b770429a8a680caaa65e57e8_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1536/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1640", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the tall yellow poster with woman and place it next to the soapdispenser", "object_name": "objaposter_f15988d0eb0a4d309738ffc5bbd3ba4d_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1640/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1732", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black folding knife with accent and place it next to the translucent ergonomic spray bottle", "object_name": "objapocketknife_a794889d68654206b0ab9f81a07f3ed0_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1732/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1781", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the pill bottle and place it next to the golden star badge", "object_name": "objapillbottle_c570abc36b9a4fb1bf5b1aaf4c9c812f_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1781/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1912", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red tdk vhs tape and place it next to the soap bottle", "object_name": "objavhscassette_85ea6fb195194b85816ed76bb10edfca_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1912/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2024", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red jewelry box with mirror and place it next to the plant life", "object_name": "objajewelrybox_05624f21a8684474b641ab7865d5c3b0_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2024/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2090", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the sleek metallic juicer with three legs and place it next to the olive scalloped ceramic plate", "object_name": "objajuicer_781344ece32d4692affe82c5474c0b75_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2090/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2200", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the heavy-duty metal shackle and place it next to the octagonal translucent soap bottle", "object_name": "objashackle_f04582e626ee4b09b5b870a2730d12b7_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2200/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2306", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the golden caduceus with serpents and wings and place it next to the white square bowl", "object_name": "objacaduceus_93f79bd813a444a6942c7ab8259977ec_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2306/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2433", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue blades and place it next to the square blue plate", "object_name": "objadecorativeblades_49da7278b073450686dec40d5d61f8ef_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2433/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2482", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the street sign and place it next to the sleek slim dark phone with camera", "object_name": "objasign_f7f6faf55fda4fbc9d4b2558375b0378_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2482/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2597", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the sleek ipod with screen and wheel and place it next to the colorful dodecahedron with text", "object_name": "objaportablemediaplayer_70b4a6925971425da94b833813099beb_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2597/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2683", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the teal vintage handheld camera and place it next to the yellow handled polished kitchen knife", "object_name": "objadecorativecamera_ab399345c2cb477f85087554b280432c_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2683/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2824", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the octagonal silver plate and place it next to the steel pot", "object_name": "plate_c15e3f7680e3167e2f8d34f3a4bbadaf_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2824/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2891", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black modern microphone and place it next to the ornate gray crown with lettering", "object_name": "objamicrophone_343edd0babf743ba9fd43f99182d998d_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2891/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3007", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the bottleopener and place it next to the pink classical draped relief", "object_name": "objabottleopener_c7783daa48a6466a9ac5f43e8f86db54_2_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3007/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3120", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green bullet and place it next to the bronze full-figured statue", "object_name": "objaammunition_ac0cb85fdde046fc96e11a80a224fe3f_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3120/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3216", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the piece and place it next to the vintage radio with wooden exterior", "object_name": "objadecorativepiece_1eaddffbb80f408992ee3ade39ff9b5d_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3216/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3272", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green nameplate and place it next to the blue spray bottle with nozzle", "object_name": "objadecorativenameplate_6ad8389d9e8d4d85ae6020f936381819_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3272/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3331", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the round dark hanging pot with kernels and place it next to the bowl", "object_name": "objahangingpot_079f67e3d21b4559a5ef90f538d130ab_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3331/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3400", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the circular stone disc with hole and place it next to the portable computer", "object_name": "objastonedisc_bb31ba58de6e457aa1251a63ede16de2_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3400/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3483", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 136, "task_description": "Pick up the white playing card with black skull and place it next to the rectangular dark gray tufted pillow", "object_name": "objaplayingcard_dbdcf0441e0e442b912c0b47703eb4fc_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3483/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3537", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the metal clamp holding dark stone and place it next to the dark glossy hardcover book", "object_name": "objaclamp_989a7a2db76a4ee08d924117f258e4eb_2_0_2", "data_file_path": 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"task_description": "Pick up the small gray bird with orange beak and place it next to the medium smooth red apple", "object_name": "objadecorativebird_7914020e993b48ea8385579ee35b111c_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3610/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3656", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the glossy red tomato with stem and place it next to the gold vase", "object_name": "objatomato_01e9b3bcc92545f1a2fd713c11cbc4c9_1_0_2", "data_file_path": 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"task_description": "Pick up the orange cylindrical medicine bottle with label and place it next to the soap bottle", "object_name": "objapillbottle_c570abc36b9a4fb1bf5b1aaf4c9c812f_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3864/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3956", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 328, "task_description": "Pick up the blue bifold wallet with brown interior and place it next to the blue vase", "object_name": "objawallet_284753c433144278b333b617615d6b3a_1_0_2", "data_file_path": 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"task_description": "Pick up the black pan and place it next to the transparent soap bottle", "object_name": "cookingpan_2042502e26c8e4aa7f1acb4af74ccc69_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4187/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4253", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the purple striped paper roll and place it next to the red glove", "object_name": "objatoiletpaperroll_afb1da51bd2046a2964742b53eb1b270_1_0_9", "data_file_path": 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"task_description": "Pick up the mechanical gauntlet and place it next to the blue glossy ceramic vase", "object_name": "objamechanicalgauntlet_46092034259442ec91346f202fb2393e_2_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4329/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4412", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the glossy green beetle figurine and place it next to the metallic blue laptop", "object_name": "objadecorativeinsect_3d87721214d44cc6986677a844c80499_1_0_9", "data_file_path": 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"Pick up the purple snowman card and place it next to the blue metallic toaster with buttons", "object_name": "objagreetingcard_99d51751c64749d68d8da3903cb45194_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4481/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4502", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue milk carton with branding and place it next to the narwhal skull", "object_name": "objamilkcarton_aa9103c0122246f68dd367e640df32bb_1_0_7", "data_file_path": 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"task_description": "Pick up the wooden house keyholder and place it next to the realistic pink gradient starfish model", "object_name": "objakeyholder_7e8733261a034ef5b0302f1ee2fe2554_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4684/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4728", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the smoothing iron and place it next to the handheld white and orange tape dispenser", "object_name": "objavintageiron_187871edbc5e40d8a75a4b654ce32146_1_0_2", "data_file_path": 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"Pick up the realistic yellow striped wasp and place it next to the rustic carved wooden block", "object_name": "objainsect_2a266405e9044b5495cf55b7298c757b_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4811/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4883", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue bifold wallet with brown interior and place it next to the glossy black dog statue sitting", "object_name": "objawallet_284753c433144278b333b617615d6b3a_1_0_2", "data_file_path": 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decorativebird and place it next to the light-colored paper origami crane with wings", "object_name": "objadecorativebird_0aac489fda0d4e91845b6623e64db21c_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_509/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5101", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the electricaltransformer and place it next to the smooth white ceramic serving bowl", "object_name": "objaelectricaltransformer_6f46f585edac4aeca9634f6ec1f6ead0_2_0_7", "data_file_path": 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the mint pawn and place it next to the modern silver toaster with blue accents", "object_name": "objachesspiece_4a7ca69cec1d45648576c4dd262009d6_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5219/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5408", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the decorative sign and place it next to the smooth green apple", "object_name": "objadecorativesign_718ce2f835cc4281a0b8102773c7b290_1_0_6", "data_file_path": 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the glossy green beetle figurine and place it next to the red rosebud turquoise stem", "object_name": "objadecorativeinsect_3d87721214d44cc6986677a844c80499_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5568/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5628", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the muffler and place it next to the beige weathered animal jawbone", "object_name": "objashockabsorber_09418c0e952b4ccebedd650ef0acad24_1_0_7", "data_file_path": 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"num_steps": 449, "task_description": "Pick up the shallow wide terracotta bowl and place it next to the gray polished human hand statue", "object_name": "bowl_4d97da0c296398947839b0e020453a0f_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6148/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6227", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 40, "task_description": "Pick up the french bulldog sculpture and place it next to the irregular yellow porous sponge object", "object_name": "objasculpture_0aada10d6d7e46dca7cb54a8590b2a41_1_0_7", "data_file_path": 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{}} +{"house_id": "house_6548", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue handheld ergonomic 3d scanner and place it next to the crockery", "object_name": "obja3dscanner_35ce1f77245c4aeb903f6ec11634e83b_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6548/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6603", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the chain and place it next to the brown chihuahua", "object_name": "objadecorativechain_a3ce79a459cc4849868eb2ab508dbd80_1_0_9", "data_file_path": 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"Pick up the white shell with blue accents and place it next to the bulbous shiny gold vase", "object_name": "objacasing_f7c919ec53a748038436a18cd83e6b3d_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8081/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8141", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vessel and place it next to the smooth elongated tan loaf", "object_name": "objaflask_a9cedb7fc2d74f95ae7bc2b72960d3c6_1_0_8", "data_file_path": 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"Pick up the black rubber mallet with wooden handle and place it next to the white 2% milk carton with branding", "object_name": "objarubbermallet_57fc7be2efcd4284a9514f05dbb51942_2_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8312/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8389", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the binoculars and place it next to the open shark jaws", "object_name": "objanightvisiongoggles_eae7cbfcd0ec4060bde31338845ea44c_1_0_6", "data_file_path": 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the yellow striped bee and place it next to the fresh medium green romaine lettuce", "object_name": "objadecorativeinsect_40804168b9a340d8935fa277c9e5de74_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8542/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8648", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the compact handheld gimbal camera with screen and place it next to the golden brown artisanal bread", "object_name": "objagimbalcamera_13523a1c494f4a159aa90ac014c03221_1_0_8", "data_file_path": 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"num_steps": 449, "task_description": "Pick up the flat, elongated handle with hole and place it next to the fresh spherical green lettuce", "object_name": "objahandle_a168ec0564fb4a1e98caadee6866be28_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_879/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8833", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 88, "task_description": "Pick up the butt hinge and place it next to the yellowed parchment with red wax seal", "object_name": "objahinge_1ffa7463a95647c5bc8c07359ff161ae_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8833/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8884", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the handmirror and place it next to the medieval soldier with spear", "object_name": "objahandmirror_a3348d3e4a674350af738e8cf20ec378_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8884/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8972", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black cast iron teapot with autumn leaves and place it next to the red conical flower with leaves", "object_name": "objateapot_50ac7cdcf9b440a78a9243f8fab4ff53_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8972/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9024", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black decorative sign with guitar and place it next to the blue handled scissors", "object_name": "objadecorativesign_b44dd97814b44a049bd81501c6850bcf_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9024/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9092", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the sharp kitchen knife with wooden handle and place it next to the compact blue toaster", "object_name": "objakitchenknife_ab324ce501ee4ce9a35f3df76817dcfb_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9092/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9163", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wall hook and place it next to the yellow vase", "object_name": "objawallhook_7326578d9a0947e3890e8d50db79a033_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9163/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9187", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the small green seedling in terracotta pot and place it next to the medium cardboard box with flaps", "object_name": "objaplantpot_51030882447e428a8efec83649ee3172_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9187/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9187", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the glossy slender curved green stick and place it next to the metal spear", "object_name": "objadecorativerod_3dd7a9dee7234665826875b678fac3eb_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9187/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9252", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green smoke grenade and place it next to the small brown oval potato", "object_name": "objasmokegrenade_6dbb48151a9147b4830aa7bf55fc8282_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9252/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9320", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark stone cylindrical seal with carvings and place it next to the dark metal cooking pot", "object_name": "objacylinderseal_faa5a6851ee44affa0655094c13fd3b0_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9320/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_942", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the digital watch and place it next to the black radio control transmitter", "object_name": "objawristwatch_63e67b020cd349e89c3a506a513c1108_2_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_942/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9423", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark horse knight chess piece and place it next to the light gray wooden bowl", "object_name": "objachesspiece_d7e344aa00cc462586cede69e49613fd_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9423/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9502", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the intricate dark wooden molding with carvings and place it next to the large mottled bone vertebra", "object_name": "objamolding_0cec9637549f4355a4067cbf732f028f_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9502/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9588", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the triangular pink cheese wedge and place it next to the green apple", "object_name": "objacheese_b945c8c26cf540229510b7d9e65f98c7_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9588/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9651", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blocky wooden hourglass with sand and place it next to the slim blue phone device", "object_name": "objahourglass_e278f37f71ac4e2e980c6ef53899c2d7_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9651/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9727", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark stone cylindrical seal with carvings and place it next to the brown fish with large eyes", "object_name": "objacylinderseal_faa5a6851ee44affa0655094c13fd3b0_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9727/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9887", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the stoneaxe and place it next to the white hardcover academic book", "object_name": "objastoneaxe_11654de384f440d7ba70c71febdff3cc_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9887/trajectories_batch_1_of_1.h5", "metadata": {}} diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/eval.log b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/eval.log new file mode 100644 index 0000000000000000000000000000000000000000..3bf93701abe03b017e7990d6fddafb69bdce058d --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/eval.log @@ -0,0 +1,3777 @@ +[2026-05-26 19:43:51,050] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath'] +[2026-05-26 19:43:51,051] INFO Using MuJoCo EGL device id: 0 +[2026-05-26 19:43:51,051] INFO Using pre-set MUJOCO_GL backend: egl +[2026-05-26 19:43:51,095] INFO Using MolmoSpaces benchmark: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 (source=arg) +[2026-05-26 19:43:53,191] INFO No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +[nltk_data] Downloading package wordnet to /home/yuanpei/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /home/yuanpei/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +[2026-05-26 19:44:03,964] INFO ResourceManager (R2RemoteStorage('https://pub-3555e9bb2d304fab9c6c79819e48aa40.r2.dev')) using: + symlink_dir=/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets + cache_dir=/home/yuanpei/.cache/molmo-spaces-resources + force_install=True +/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py:129: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +[2026-05-26 19:48:10,280] INFO Requested MolmoSpaces simulator cameras: ['droid_shoulder_light_randomization', 'wrist_camera_zed_mini'] +[2026-05-26 19:48:10,282] INFO Using save_video_sensors=['__none__'] +[2026-05-26 19:48:15,710] INFO Resolved MolmoSpaces action semantics from checkpoint: source=pnp_next_to_v2 type=molmo_raw arm_action_key=joint_pos_rel gripper_action_key=joint_pos action_type=joint_pos_rel arm_command_mode=joint_rel_position +[2026-05-26 19:48:15,756] INFO Using explicit task_horizon override: 450 steps +[05/26 19:48:16 INFO pipeline.py:677] WandB logging disabled (environment variables not set) +[2026-05-26 19:48:16,218] INFO JsonEvalRunner initialized: 116 houses, 120 episodes from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/26 19:48:16 INFO pipeline.py:1279] Starting house-by-house rollout of 116 houses with 2 episodes each (232 total episodes) using 1 worker processes +[05/26 19:48:16 INFO pipeline.py:1286] Evaluation configuration: +[05/26 19:48:16 INFO pipeline.py:1287] {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['droid_shoulder_light_randomization', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 'wan_molmobot_franka', + 'obs_camera_name': 'droid_shoulder_light_randomization', + 'obs_image_key': 'rgb_head', + 'obs_state_key': 'robot_state', + 'obs_wrist_camera_name': 'wrist_camera_zed_mini', + 'obs_wrist_image_key': 'rgb_wrist', + 'policy_cls': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [475, + 509, + 579, + 625, + 694, + 734, + 792, + 879, + 942, + 1058, + 1180, + 1260, + 1332, + 1399, + 1536, + 1640, + 1732, + 1781, + 1912, + 2024, + 2090, + 2200, + 2306, + 2433, + 2482, + 2597, + 2683, + 2824, + 2891, + 3007, + 3120, + 3216, + 3272, + 3331, + 3400, + 3483, + 3537, + 3610, + 3656, + 3748, + 3864, + 3956, + 4069, + 4187, + 4253, + 4293, + 4329, + 4412, + 4481, + 4502, + 4631, + 4684, + 4728, + 4811, + 4883, + 4981, + 5101, + 5180, + 5219, + 5408, + 5482, + 5568, + 5628, + 5699, + 5830, + 5905, + 5977, + 6079, + 6148, + 6227, + 6282, + 6328, + 6400, + 6514, + 6548, + 6603, + 6722, + 6792, + 6917, + 6987, + 7042, + 7101, + 7185, + 7304, + 7350, + 7420, + 7475, + 7576, + 7676, + 7777, + 7868, + 7980, + 8081, + 8141, + 8232, + 8312, + 8389, + 8460, + 8542, + 8648, + 8725, + 8833, + 8884, + 8972, + 9024, + 9092, + 9163, + 9187, + 9252, + 9320, + 9423, + 9502, + 9588, + 9651, + 9727, + 9887], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} +[2026-05-26 19:48:16,222] INFO Saved experiment configuration to /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815 +[05/26 19:48:16 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler +[05/26 19:48:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/26 19:48:16 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler +[05/26 19:48:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 475 (index 0/116) +[05/26 19:48:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 475 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/26 19:48:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +Goal: place black rail with holes and arms next to smooth red apple +2026-05-26 19:48:36.636 | INFO | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0 +[2026-05-26 19:48:37,683] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k) +[2026-05-26 19:48:39,127] INFO [timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k] Safe alternative available for 'pytorch_model.bin' (as 'model.safetensors'). Loading weights using safetensors. +[2026-05-26 19:48:39,697] INFO Number of parameters in DiT: 1.821428e+07 +[2026-05-26 19:48:39,901] INFO Loaded generic psi-policy checkpoint | target=psi_policy.policy.psi_policy.PsiPolicy | obs_keys=['rgb_head', 'rgb_wrist', 'robot_state', 'text_context'] | action_horizon=16 | action_dim=8 +[2026-05-26 19:48:39,904] INFO Loaded MolmoSpaces policy | checkpoint=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt | target=psi_policy.policy.psi_policy.PsiPolicy | device=cuda:0 | action_chunk_size=8 +[05/26 19:48:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 20:04:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 475 episode 0 object objalinearrail_d10e54ab85304e31b12d98852fa3e165_1_0_2 completed with success=False +[05/26 20:04:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_475: 1 episodes +[05/26 20:04:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:04:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:04:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_475 +[05/26 20:04:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_475 in 2.64s (batch: 2.56s, save: 0.09s) +[05/26 20:04:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_475 +[05/26 20:04:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 475: 0/1 successful episodes +[05/26 20:04:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 509 (index 1/116) +[05/26 20:04:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 509 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/26 20:04:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/17 [00:00 does not support tracking retries. +Goal: place decorativebird next to light-colored paper origami crane with wings +[2026-05-26 20:05:45,515] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/huggingface_hub/file_download.py:945: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`. + warnings.warn( +[05/26 20:12:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 509 episode 0 object objadecorativebird_0aac489fda0d4e91845b6623e64db21c_1_0_3 completed with success=False +[05/26 20:12:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_509: 1 episodes +[05/26 20:12:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:12:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:12:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_509 +[05/26 20:12:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_509 in 2.67s (batch: 2.58s, save: 0.09s) +[05/26 20:12:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_509 +[05/26 20:12:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 509: 0/1 successful episodes +[05/26 20:12:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 579 (index 2/116) +[05/26 20:12:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 579 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/26 20:12:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +[05/26 20:13:04 Worker 0 WARNING object_manager.py:1238] Could not find object objacleaningsponge_97aee64edf0c4521b82416f3b30c61ce_1_0_5 in scene +Goal: place aerosol next to blue staple gun +[2026-05-26 20:14:06,947] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 20:27:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 579 episode 0 object objaspraycan_b31ed30e335c435fb7b7b4a6a046721d_1_0_5 completed with success=False +[05/26 20:27:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_579: 1 episodes +[05/26 20:27:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:27:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:27:54 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_579 +[05/26 20:27:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_579 in 2.46s (batch: 2.37s, save: 0.09s) +[05/26 20:27:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_579 +[05/26 20:27:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 579: 0/1 successful episodes +[05/26 20:27:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 625 (index 3/116) +[05/26 20:27:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 625 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/26 20:27:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[05/26 20:28:15 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +[05/26 20:28:15 Worker 0 WARNING object_manager.py:1238] Could not find object objafabric_311791deb3864ade81c803d19731c522_1_0_5 in scene +[05/26 20:28:15 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_973bce9435d852757b03afc168e4c1df_1_0_5 in scene +Goal: place wide rustic terracotta bowl speckled next to blue soap bottle with orange pump +[2026-05-26 20:29:12,514] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 20:29:42 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 20:30:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 625 episode 0 object objabowl_72f752cce53e4942be8e27429ceaf83a_1_0_8 completed with success=True +[05/26 20:30:58 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_625: 1 episodes +[05/26 20:30:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 43 timesteps +[05/26 20:31:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:31:00 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_625 +[05/26 20:31:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_625 in 2.17s (batch: 2.14s, save: 0.03s) +[05/26 20:31:01 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_625 +[05/26 20:31:01 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 625: 1/1 successful episodes +[05/26 20:31:01 Worker 0 INFO pipeline.py:473] Worker 0 starting house 694 (index 4/116) +[05/26 20:31:01 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 694 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/26 20:31:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +[05/26 20:31:27 Worker 0 WARNING object_manager.py:1238] Could not find object objadressshoe_08158fa3333a4b288bd2746a6ba6f9e5_1_0_5 in scene +[05/26 20:31:27 Worker 0 WARNING object_manager.py:1238] Could not find object objalantern_9d65ca34fa3d432b9372c9cdb60a9a00_1_0_5 in scene +[05/26 20:31:27 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_5 in scene +Goal: place tall golden spike with base next to gray hardcover book +[2026-05-26 20:32:24,569] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 20:48:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 694 episode 0 object objaspike_71a4c3e4590e4a0ab4967b9f957ebaf5_1_0_6 completed with success=False +[05/26 20:48:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_694: 1 episodes +[05/26 20:48:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:48:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:48:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_694 +[05/26 20:48:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_694 in 2.67s (batch: 2.59s, save: 0.09s) +[05/26 20:48:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_694 +[05/26 20:48:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 694: 0/1 successful episodes +[05/26 20:48:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 734 (index 5/116) +[05/26 20:48:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 734 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/26 20:48:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +Goal: place black cleaning squeegee next to blue porous cleaning sponge +[2026-05-26 20:49:52,775] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:10:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 734 episode 0 object objasqueegee_7003b80d192b4515bab588a29bcd86d3_1_0_5 completed with success=False +[05/26 21:10:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_734: 1 episodes +[05/26 21:10:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:10:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:10:12 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_734 +[05/26 21:10:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_734 in 2.74s (batch: 2.65s, save: 0.09s) +[05/26 21:10:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_734 +[05/26 21:10:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 734: 0/1 successful episodes +[05/26 21:10:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 792 (index 6/116) +[05/26 21:10:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 792 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/26 21:10:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +[05/26 21:10:51 Worker 0 WARNING object_manager.py:1238] Could not find object objafaceplate_521c117e4216443f9cb116f01483a230_1_0_5 in scene +[05/26 21:10:51 Worker 0 WARNING object_manager.py:1238] Could not find object objaemblem_4d12203206054668bbdb47f0cc56f133_1_0_5 in scene +[05/26 21:10:51 Worker 0 WARNING object_manager.py:1238] Could not find object objawoodenplank_dc77fe25b17e4f89ae7b048e1a3656fe_1_0_8 in scene +Goal: place metal clamp with threaded rod and bolt next to red book +[2026-05-26 21:11:50,716] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:12:20 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 21:27:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 792 episode 0 object objaclamp_9772a68d88194ba9a5f73e3a317536bd_1_0_6 completed with success=False +[05/26 21:27:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_792: 1 episodes +[05/26 21:27:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:27:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:27:57 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_792 +[05/26 21:27:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_792 in 2.72s (batch: 2.63s, save: 0.09s) +[05/26 21:27:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_792 +[05/26 21:27:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 792: 0/1 successful episodes +[05/26 21:27:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 879 (index 7/116) +[05/26 21:27:57 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 879 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/26 21:27:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +Goal: place flat, elongated handle with hole next to fresh spherical green lettuce +[2026-05-26 21:29:16,096] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:29:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 21:36:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 879 episode 0 object objahandle_a168ec0564fb4a1e98caadee6866be28_1_0_2 completed with success=False +[05/26 21:36:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_879: 1 episodes +[05/26 21:36:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:36:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:36:41 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_879 +[05/26 21:36:41 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_879 in 2.67s (batch: 2.58s, save: 0.09s) +[05/26 21:36:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_879 +[05/26 21:36:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 879: 0/1 successful episodes +[05/26 21:36:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 942 (index 8/116) +[05/26 21:36:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 942 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/26 21:36:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +[05/26 21:36:52 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +Goal: place digital watch next to black radio control transmitter +[2026-05-26 21:37:55,142] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:38:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 21:51:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 942 episode 0 object objawristwatch_63e67b020cd349e89c3a506a513c1108_2_0_9 completed with success=False +[05/26 21:51:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_942: 1 episodes +[05/26 21:51:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:52:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:52:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_942 +[05/26 21:52:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_942 in 2.76s (batch: 2.67s, save: 0.09s) +[05/26 21:52:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_942 +[05/26 21:52:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 942: 0/1 successful episodes +[05/26 21:52:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1058 (index 9/116) +[05/26 21:52:03 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1058 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/26 21:52:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +Goal: place lepidopteran next to brown rectangular bread +[2026-05-26 21:53:10,984] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:53:47 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 22:07:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 1058 episode 0 object objamoth_c776c4a1d0a447388a8808dab3817af9_1_0_2 completed with success=False +[05/26 22:07:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1058: 1 episodes +[05/26 22:07:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:07:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:07:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1058 +[05/26 22:07:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1058 in 2.45s (batch: 2.36s, save: 0.09s) +[05/26 22:07:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1058 +[05/26 22:07:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1058: 0/1 successful episodes +[05/26 22:07:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1180 (index 10/116) +[05/26 22:07:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1180 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/26 22:07:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +Goal: place dark floral mug next to transparent tall wine glass +[2026-05-26 22:09:09,142] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:09:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 22:19:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 1180 episode 0 object objamug_a30aab65d235438bbfc6699faaea762d_1_0_6 completed with success=False +[05/26 22:19:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1180: 1 episodes +[05/26 22:19:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:19:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:19:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1180 +[05/26 22:19:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1180 in 2.70s (batch: 2.61s, save: 0.09s) +[05/26 22:19:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1180 +[05/26 22:19:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1180: 0/1 successful episodes +[05/26 22:19:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1260 (index 11/116) +[05/26 22:19:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1260 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/26 22:19:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +Goal: place loudspeaker next to teal hardcover book with colorful spine +[2026-05-26 22:20:37,640] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:21:14 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 22:31:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 1260 episode 0 object objasmartspeaker_0e9d0a055dde4d83b7fd53d8b7465916_1_0_4 completed with success=False +[05/26 22:31:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1260: 1 episodes +[05/26 22:31:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:31:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:31:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1260 +[05/26 22:31:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1260 in 2.35s (batch: 2.27s, save: 0.09s) +[05/26 22:31:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1260 +[05/26 22:31:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1260: 0/1 successful episodes +[05/26 22:31:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1332 (index 12/116) +[05/26 22:31:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1332 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/26 22:31:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +[05/26 22:32:15 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +Goal: place yellow handled polished kitchen knife next to rectangular dark non-stick frying pan +[2026-05-26 22:33:19,216] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:44:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 1332 episode 0 object knife_8409451f726b7f0640a91ddd7ae630cf_1_0_6 completed with success=False +[05/26 22:44:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1332: 1 episodes +[05/26 22:44:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:44:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:44:29 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1332 +[05/26 22:44:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1332 in 2.49s (batch: 2.40s, save: 0.09s) +[05/26 22:44:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1332 +[05/26 22:44:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1332: 0/1 successful episodes +[05/26 22:44:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1399 (index 13/116) +[05/26 22:44:29 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1399 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/26 22:44:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/26 22:44:35 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_9 in scene +Goal: place compact holographic weapon sight next to rectangular pillow with earthy stripes +[2026-05-26 22:45:35,446] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:57:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 1399 episode 0 object objaweaponsight_a7323938c943423a8a7adb8656b0168f_1_0_6 completed with success=True +[05/26 22:57:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1399: 1 episodes +[05/26 22:57:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 321 timesteps +[05/26 22:57:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:57:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1399 +[05/26 22:57:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1399 in 2.62s (batch: 2.56s, save: 0.07s) +[05/26 22:57:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1399 +[05/26 22:57:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1399: 1/1 successful episodes +[05/26 22:57:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1536 (index 14/116) +[05/26 22:57:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1536 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/26 22:57:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +Goal: place gold foil chocolate bunny next to dark glossy hardcover book with gold +[2026-05-26 22:58:43,816] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:59:16 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 23:08:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 1536 episode 0 object objachocolatebunny_3fd78d69b770429a8a680caaa65e57e8_1_0_6 completed with success=False +[05/26 23:08:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1536: 1 episodes +[05/26 23:08:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:08:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:08:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1536 +[05/26 23:08:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1536 in 2.38s (batch: 2.27s, save: 0.10s) +[05/26 23:08:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1536 +[05/26 23:08:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1536: 0/1 successful episodes +[05/26 23:08:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1640 (index 15/116) +[05/26 23:08:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1640 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/26 23:08:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +[05/26 23:08:48 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativemold_148f80486ea04f9a873fb212e98f87ae_1_0_3 in scene +[05/26 23:08:48 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeemblem_dc44a9d16aaa4b61addce2a8480f54f6_1_0_3 in scene +Goal: place tall yellow poster with woman next to soapdispenser +[2026-05-26 23:09:50,873] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:20:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 1640 episode 0 object objaposter_f15988d0eb0a4d309738ffc5bbd3ba4d_1_0_2 completed with success=False +[05/26 23:20:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1640: 1 episodes +[05/26 23:20:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:20:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:20:28 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1640 +[05/26 23:20:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1640 in 2.65s (batch: 2.56s, save: 0.09s) +[05/26 23:20:28 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1640 +[05/26 23:20:28 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1640: 0/1 successful episodes +[05/26 23:20:28 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1732 (index 16/116) +[05/26 23:20:28 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1732 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/26 23:20:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +Goal: place black folding knife with accent next to translucent ergonomic spray bottle +[2026-05-26 23:21:35,212] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:22:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 23:31:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 1732 episode 0 object objapocketknife_a794889d68654206b0ab9f81a07f3ed0_1_0_6 completed with success=False +[05/26 23:31:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1732: 1 episodes +[05/26 23:31:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:31:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:31:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1732 +[05/26 23:31:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1732 in 2.73s (batch: 2.65s, save: 0.09s) +[05/26 23:31:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1732 +[05/26 23:31:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1732: 0/1 successful episodes +[05/26 23:31:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1781 (index 17/116) +[05/26 23:31:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1781 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/26 23:31:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +Goal: place pill bottle next to golden star badge +[2026-05-26 23:33:04,342] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:33:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 23:41:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 1781 episode 0 object objapillbottle_c570abc36b9a4fb1bf5b1aaf4c9c812f_1_0_6 completed with success=False +[05/26 23:41:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1781: 1 episodes +[05/26 23:41:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:41:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:41:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1781 +[05/26 23:41:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1781 in 2.66s (batch: 2.57s, save: 0.09s) +[05/26 23:41:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1781 +[05/26 23:41:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1781: 0/1 successful episodes +[05/26 23:41:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1912 (index 18/116) +[05/26 23:41:57 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1912 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/26 23:41:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +Goal: place red tdk vhs tape next to soap bottle +[2026-05-26 23:43:06,797] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:43:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 23:58:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 1912 episode 0 object objavhscassette_85ea6fb195194b85816ed76bb10edfca_1_0_8 completed with success=False +[05/26 23:58:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1912: 1 episodes +[05/26 23:58:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:58:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:58:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1912 +[05/26 23:58:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1912 in 2.40s (batch: 2.31s, save: 0.09s) +[05/26 23:58:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1912 +[05/26 23:58:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1912: 0/1 successful episodes +[05/26 23:58:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2024 (index 19/116) +[05/26 23:58:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2024 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/26 23:58:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +Goal: place red jewelry box with mirror next to plant life +[2026-05-27 00:03:42,917] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:04:20 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:12:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 2024 episode 0 object objajewelrybox_05624f21a8684474b641ab7865d5c3b0_1_0_2 completed with success=False +[05/27 00:12:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2024: 1 episodes +[05/27 00:12:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:12:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:12:45 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2024 +[05/27 00:12:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2024 in 2.45s (batch: 2.36s, save: 0.09s) +[05/27 00:12:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2024 +[05/27 00:12:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2024: 0/1 successful episodes +[05/27 00:12:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2090 (index 20/116) +[05/27 00:12:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2090 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 00:12:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +[05/27 00:12:49 Worker 0 WARNING object_manager.py:1238] Could not find object objaopticaldevice_7ed2098a406244aebfad75b9d2e6827b_1_0_7 in scene +[05/27 00:12:49 Worker 0 WARNING object_manager.py:1238] Could not find object bowl_0edf7e6cf6327a9271981c502739c394_1_0_7 in scene +Goal: place sleek metallic juicer with three legs next to olive scalloped ceramic plate +[2026-05-27 00:13:51,126] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:14:25 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:24:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 2090 episode 0 object objajuicer_781344ece32d4692affe82c5474c0b75_1_0_6 completed with success=False +[05/27 00:24:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2090: 1 episodes +[05/27 00:24:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:24:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:24:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2090 +[05/27 00:24:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2090 in 2.68s (batch: 2.58s, save: 0.10s) +[05/27 00:24:42 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2090 +[05/27 00:24:42 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2090: 0/1 successful episodes +[05/27 00:24:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2200 (index 21/116) +[05/27 00:24:42 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2200 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 00:24:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/32 [00:00 does not support tracking retries. +[05/27 00:24:46 Worker 0 WARNING object_manager.py:1238] Could not find object objasawhorse_b9f06d829ca7429baeba040c915d0ffb_1_0_4 in scene +Goal: place heavy-duty metal shackle next to octagonal translucent soap bottle +[2026-05-27 00:25:49,061] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:26:25 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:27:53 Worker 0 INFO pipeline.py:1114] Worker 0 house 2200 episode 0 object objashackle_f04582e626ee4b09b5b870a2730d12b7_1_0_6 completed with success=False +[05/27 00:27:56 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2200: 1 episodes +[05/27 00:27:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:27:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:27:59 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2200 +[05/27 00:27:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2200 in 2.45s (batch: 2.36s, save: 0.09s) +[05/27 00:27:59 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2200 +[05/27 00:27:59 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2200: 0/1 successful episodes +[05/27 00:27:59 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2306 (index 22/116) +[05/27 00:27:59 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2306 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 00:27:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +[05/27 00:28:18 Worker 0 WARNING object_manager.py:1238] Could not find object objasneaker_75c97069e89c4d84ab36922b77a97678_1_0_5 in scene +[05/27 00:28:18 Worker 0 WARNING object_manager.py:1238] Could not find object objasandal_48b073d405e5472d9fd7e0dbe45c973e_1_0_5 in scene +Goal: place golden caduceus with serpents and wings next to white square bowl +[2026-05-27 00:29:19,723] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:29:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:44:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 2306 episode 0 object objacaduceus_93f79bd813a444a6942c7ab8259977ec_1_0_2 completed with success=False +[05/27 00:44:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2306: 1 episodes +[05/27 00:44:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:44:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:44:47 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2306 +[05/27 00:44:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2306 in 2.85s (batch: 2.76s, save: 0.09s) +[05/27 00:44:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2306 +[05/27 00:44:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2306: 0/1 successful episodes +[05/27 00:44:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2433 (index 23/116) +[05/27 00:44:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2433 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 00:44:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +[05/27 00:44:49 Worker 0 WARNING object_manager.py:1238] Could not find object egg_90ac4704a427669f3e6c8af344d2d0d3_1_0_2 in scene +Goal: place blue blades next to square blue plate +[2026-05-27 00:45:53,509] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:46:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:53:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 2433 episode 0 object objadecorativeblades_49da7278b073450686dec40d5d61f8ef_1_0_2 completed with success=False +[05/27 00:53:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2433: 1 episodes +[05/27 00:53:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:53:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:53:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2433 +[05/27 00:53:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2433 in 2.42s (batch: 2.33s, save: 0.09s) +[05/27 00:53:42 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2433 +[05/27 00:53:42 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2433: 0/1 successful episodes +[05/27 00:53:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2482 (index 24/116) +[05/27 00:53:42 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2482 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 00:53:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/27 00:55:56 Worker 0 WARNING object_manager.py:1238] Could not find object statue_82f73072d5461ff460bb390c3adf02fa_1_0_3 in scene +Goal: place street sign next to sleek slim dark phone with camera +[2026-05-27 00:56:59,796] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:15:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 2482 episode 0 object objasign_f7f6faf55fda4fbc9d4b2558375b0378_1_0_4 completed with success=False +[05/27 01:15:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2482: 1 episodes +[05/27 01:15:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:16:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:16:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2482 +[05/27 01:16:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2482 in 2.69s (batch: 2.60s, save: 0.09s) +[05/27 01:16:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2482 +[05/27 01:16:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2482: 0/1 successful episodes +[05/27 01:16:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2597 (index 25/116) +[05/27 01:16:03 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2597 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 01:16:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/17 [00:00 does not support tracking retries. +Goal: place sleek ipod with screen and wheel next to colorful dodecahedron with text +[2026-05-27 01:17:07,648] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:24:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 2597 episode 0 object objaportablemediaplayer_70b4a6925971425da94b833813099beb_1_0_3 completed with success=False +[05/27 01:24:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2597: 1 episodes +[05/27 01:24:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:24:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:24:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2597 +[05/27 01:24:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2597 in 2.67s (batch: 2.57s, save: 0.09s) +[05/27 01:24:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2597 +[05/27 01:24:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2597: 0/1 successful episodes +[05/27 01:24:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2683 (index 26/116) +[05/27 01:24:35 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2683 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 01:24:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +Goal: place teal vintage handheld camera next to yellow handled polished kitchen knife +[2026-05-27 01:25:45,367] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:26:20 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 01:37:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 2683 episode 0 object objadecorativecamera_ab399345c2cb477f85087554b280432c_1_0_2 completed with success=False +[05/27 01:38:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2683: 1 episodes +[05/27 01:38:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:38:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:38:03 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2683 +[05/27 01:38:03 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2683 in 2.82s (batch: 2.73s, save: 0.09s) +[05/27 01:38:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2683 +[05/27 01:38:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2683: 0/1 successful episodes +[05/27 01:38:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2824 (index 27/116) +[05/27 01:38:04 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2824 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 01:38:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/14 [00:00 does not support tracking retries. +Goal: place octagonal silver plate next to steel pot +[2026-05-27 01:40:08,935] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:40:42 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 01:49:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 2824 episode 0 object plate_c15e3f7680e3167e2f8d34f3a4bbadaf_1_0_2 completed with success=False +[05/27 01:49:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2824: 1 episodes +[05/27 01:49:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:49:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:49:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2824 +[05/27 01:49:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2824 in 2.40s (batch: 2.30s, save: 0.09s) +[05/27 01:49:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2824 +[05/27 01:49:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2824: 0/1 successful episodes +[05/27 01:49:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2891 (index 28/116) +[05/27 01:49:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2891 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 01:49:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +[05/27 01:49:22 Worker 0 WARNING object_manager.py:1238] Could not find object objafacemask_061da4f589f1477692d5d06b8812d518_1_0_5 in scene +[05/27 01:49:22 Worker 0 WARNING object_manager.py:1238] Could not find object objalightswitchcoverplate_8f601aff31c8480db54a5fe7c85b34c2_1_0_5 in scene +[05/27 01:49:22 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene +[05/27 01:49:22 Worker 0 WARNING object_manager.py:1238] Could not find object objamodelmissile_1be9ec86a68d4657920fec178be1626c_1_0_7 in scene +[05/27 01:49:22 Worker 0 WARNING object_manager.py:1238] Could not find object plate_078f7b7772accf1f6c4a960a7e5bdde0_1_0_7 in scene +Goal: place black modern microphone next to ornate gray crown with lettering +[2026-05-27 01:50:25,209] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:51:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 02:01:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 2891 episode 0 object objamicrophone_343edd0babf743ba9fd43f99182d998d_1_0_7 completed with success=False +[05/27 02:01:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2891: 1 episodes +[05/27 02:01:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:01:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:01:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2891 +[05/27 02:01:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2891 in 2.45s (batch: 2.36s, save: 0.09s) +[05/27 02:01:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2891 +[05/27 02:01:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2891: 0/1 successful episodes +[05/27 02:01:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3007 (index 29/116) +[05/27 02:01:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3007 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 02:01:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[05/27 02:02:56 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeplatform_fb3121509a5143ff852c6f8f2d59f37e_1_0_5 in scene +[05/27 02:02:56 Worker 0 WARNING object_manager.py:1238] Could not find object objaexternaldvddrive_d9b63231980e4719aca47048767062af_1_0_5 in scene +Goal: place bottleopener next to pink classical draped relief +[2026-05-27 02:04:01,103] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:19:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 3007 episode 0 object objabottleopener_c7783daa48a6466a9ac5f43e8f86db54_2_0_4 completed with success=False +[05/27 02:19:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3007: 1 episodes +[05/27 02:19:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:19:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:19:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3007 +[05/27 02:19:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3007 in 2.66s (batch: 2.57s, save: 0.09s) +[05/27 02:19:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3007 +[05/27 02:19:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3007: 0/1 successful episodes +[05/27 02:19:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3120 (index 30/116) +[05/27 02:19:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3120 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 02:19:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/25 [00:00 does not support tracking retries. +Goal: place green bullet next to bronze full-figured statue +[2026-05-27 02:21:03,021] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:21:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 02:31:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 3120 episode 0 object objaammunition_ac0cb85fdde046fc96e11a80a224fe3f_1_0_6 completed with success=False +[05/27 02:31:58 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3120: 1 episodes +[05/27 02:31:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:32:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:32:00 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3120 +[05/27 02:32:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3120 in 2.67s (batch: 2.58s, save: 0.09s) +[05/27 02:32:01 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3120 +[05/27 02:32:01 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3120: 0/1 successful episodes +[05/27 02:32:01 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3216 (index 31/116) +[05/27 02:32:01 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3216 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 02:32:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +[05/27 02:32:05 Worker 0 WARNING object_manager.py:1238] Could not find object pencil_2c624e64d6f8a208a3a089ad77d16aa1_1_0_9 in scene +Goal: place piece next to vintage radio with wooden exterior +[2026-05-27 02:33:07,451] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:33:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 02:44:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 3216 episode 0 object objadecorativepiece_1eaddffbb80f408992ee3ade39ff9b5d_1_0_8 completed with success=False +[05/27 02:44:46 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3216: 1 episodes +[05/27 02:44:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:44:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:44:49 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3216 +[05/27 02:44:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3216 in 2.42s (batch: 2.33s, save: 0.09s) +[05/27 02:44:49 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3216 +[05/27 02:44:49 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3216: 0/1 successful episodes +[05/27 02:44:49 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3272 (index 32/116) +[05/27 02:44:49 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3272 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 02:44:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/44 [00:00 does not support tracking retries. +Goal: place green nameplate next to blue spray bottle with nozzle +[2026-05-27 02:45:59,397] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:46:32 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 02:48:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 3272 episode 0 object objadecorativenameplate_6ad8389d9e8d4d85ae6020f936381819_1_0_8 completed with success=False +[05/27 02:48:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3272: 1 episodes +[05/27 02:48:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:48:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:48:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3272 +[05/27 02:48:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3272 in 2.66s (batch: 2.58s, save: 0.09s) +[05/27 02:48:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3272 +[05/27 02:48:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3272: 0/1 successful episodes +[05/27 02:48:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3331 (index 33/116) +[05/27 02:48:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3331 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 02:48:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +Goal: place round dark hanging pot with kernels next to bowl +[2026-05-27 02:49:39,423] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:50:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 03:12:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 3331 episode 0 object objahangingpot_079f67e3d21b4559a5ef90f538d130ab_1_0_2 completed with success=False +[05/27 03:12:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3331: 1 episodes +[05/27 03:12:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:12:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:12:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3331 +[05/27 03:12:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3331 in 2.42s (batch: 2.33s, save: 0.09s) +[05/27 03:12:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3331 +[05/27 03:12:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3331: 0/1 successful episodes +[05/27 03:12:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3400 (index 34/116) +[05/27 03:12:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3400 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 03:12:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/27 [00:00 does not support tracking retries. +Goal: place circular stone disc with hole next to portable computer +[2026-05-27 03:13:19,261] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:25:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 3400 episode 0 object objastonedisc_bb31ba58de6e457aa1251a63ede16de2_1_0_7 completed with success=False +[05/27 03:25:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3400: 1 episodes +[05/27 03:25:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:25:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:25:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3400 +[05/27 03:25:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3400 in 2.78s (batch: 2.69s, save: 0.09s) +[05/27 03:25:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3400 +[05/27 03:25:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3400: 0/1 successful episodes +[05/27 03:25:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3483 (index 35/116) +[05/27 03:25:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3483 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 03:25:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 does not support tracking retries. +[05/27 03:25:30 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_2 in scene +Goal: place white playing card with black skull next to rectangular dark gray tufted pillow +[2026-05-27 03:26:33,430] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:31:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 3483 episode 0 object objaplayingcard_dbdcf0441e0e442b912c0b47703eb4fc_1_0_4 completed with success=True +[05/27 03:31:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3483: 1 episodes +[05/27 03:31:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 138 timesteps +[05/27 03:31:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:31:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3483 +[05/27 03:31:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3483 in 2.19s (batch: 2.14s, save: 0.05s) +[05/27 03:31:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3483 +[05/27 03:31:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3483: 1/1 successful episodes +[05/27 03:31:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3537 (index 36/116) +[05/27 03:31:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3537 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 03:31:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/18 [00:00 does not support tracking retries. +[05/27 03:31:37 Worker 0 WARNING object_manager.py:1238] Could not find object objawebcam_c5f7acd4d05842b0a604d37b3716be17_1_0_7 in scene +Goal: place metal clamp holding dark stone next to dark glossy hardcover book +[2026-05-27 03:32:40,421] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:33:13 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 03:42:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 3537 episode 0 object objaclamp_989a7a2db76a4ee08d924117f258e4eb_2_0_2 completed with success=False +[05/27 03:42:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3537: 1 episodes +[05/27 03:42:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:42:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:42:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3537 +[05/27 03:42:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3537 in 2.74s (batch: 2.65s, save: 0.09s) +[05/27 03:42:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3537 +[05/27 03:42:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3537: 0/1 successful episodes +[05/27 03:42:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3610 (index 37/116) +[05/27 03:42:31 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 3610 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 03:42:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +Goal: place tall slender brown wooden bottle next to bronze full-figured statue +[2026-05-27 03:43:37,445] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:44:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 03:55:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 3610 episode 0 object objadecorativebottle_7c356add4b0545759c69e94f6da537b7_1_0_2 completed with success=False +[05/27 03:55:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +Goal: place small gray bird with orange beak next to medium smooth red apple +[2026-05-27 03:56:19,034] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:56:54 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:08:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 3610 episode 1 object objadecorativebird_7914020e993b48ea8385579ee35b111c_1_0_2 completed with success=False +[05/27 04:08:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3610: 2 episodes +[05/27 04:08:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:08:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:08:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:08:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:08:12 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3610 +[05/27 04:08:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3610 in 5.04s (batch: 4.86s, save: 0.18s) +[05/27 04:08:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3610 +[05/27 04:08:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3610: 0/2 successful episodes +[05/27 04:08:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3656 (index 38/116) +[05/27 04:08:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3656 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 04:08:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +Goal: place glossy red tomato with stem next to gold vase +[2026-05-27 04:09:20,963] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:09:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:24:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 3656 episode 0 object objatomato_01e9b3bcc92545f1a2fd713c11cbc4c9_1_0_2 completed with success=False +[05/27 04:24:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3656: 1 episodes +[05/27 04:24:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:24:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:24:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3656 +[05/27 04:24:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3656 in 2.70s (batch: 2.61s, save: 0.09s) +[05/27 04:24:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3656 +[05/27 04:24:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3656: 0/1 successful episodes +[05/27 04:24:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3748 (index 39/116) +[05/27 04:24:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3748 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 04:24:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +Goal: place rectangular metallic effects pedal next to slideprojector +[2026-05-27 04:25:23,720] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:26:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:38:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 3748 episode 0 object objaguitareffectspedal_8c6e5265f19b49709119c2628c2bdf3f_2_0_3 completed with success=False +[05/27 04:38:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3748: 1 episodes +[05/27 04:38:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:38:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:38:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3748 +[05/27 04:38:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3748 in 2.41s (batch: 2.32s, save: 0.09s) +[05/27 04:38:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3748 +[05/27 04:38:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3748: 0/1 successful episodes +[05/27 04:38:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3864 (index 40/116) +[05/27 04:38:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3864 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 04:38:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +Goal: place orange cylindrical medicine bottle with label next to soap bottle +[2026-05-27 04:39:24,690] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:39:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:52:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 3864 episode 0 object objapillbottle_c570abc36b9a4fb1bf5b1aaf4c9c812f_1_0_2 completed with success=False +[05/27 04:52:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3864: 1 episodes +[05/27 04:52:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:52:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:52:15 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3864 +[05/27 04:52:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3864 in 2.48s (batch: 2.38s, save: 0.10s) +[05/27 04:52:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3864 +[05/27 04:52:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3864: 0/1 successful episodes +[05/27 04:52:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3956 (index 41/116) +[05/27 04:52:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3956 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 04:52:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +Goal: place blue bifold wallet with brown interior next to blue vase +[2026-05-27 04:53:23,205] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:53:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:59:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 3956 episode 0 object objawallet_284753c433144278b333b617615d6b3a_1_0_2 completed with success=True +[05/27 04:59:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3956: 1 episodes +[05/27 04:59:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 330 timesteps +[05/27 04:59:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:59:43 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3956 +[05/27 04:59:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3956 in 2.66s (batch: 2.59s, save: 0.07s) +[05/27 04:59:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3956 +[05/27 04:59:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3956: 1/1 successful episodes +[05/27 04:59:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4069 (index 42/116) +[05/27 04:59:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4069 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 04:59:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/58 [00:00 does not support tracking retries. +[05/27 05:00:02 Worker 0 WARNING object_manager.py:1238] Could not find object lettuce_a1e5e7e9a0fd5721b75dc053d43ae3cd_1_0_2 in scene +[05/27 05:00:02 Worker 0 WARNING object_manager.py:1238] Could not find object objajewelrydisplay_cb763a3de6e64365955841346d95891c_1_0_5 in scene +[05/27 05:00:02 Worker 0 WARNING object_manager.py:1238] Could not find object objamedicalmask_b52524319c70458db1c3a78f9c096afe_1_0_5 in scene +[05/27 05:00:02 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_5 in scene +[05/27 05:00:02 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaper_e79b5660d8c2406d804485257eae6c23_3_0_5 in scene +[05/27 05:00:02 Worker 0 WARNING object_manager.py:1238] Could not find object candle_09223ab74c3b4b8525bb3f1f1bd405c2_2_0_5 in scene +Goal: place brown dried fish with rough texture next to bulbous shiny gold vase +[2026-05-27 05:01:04,509] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:18:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 4069 episode 0 object objadriedfish_b94ddf2091234161818b07461044cb2f_1_0_2 completed with success=False +[05/27 05:18:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4069: 1 episodes +[05/27 05:18:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:18:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:18:27 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4069 +[05/27 05:18:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4069 in 2.71s (batch: 2.62s, save: 0.09s) +[05/27 05:18:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4069 +[05/27 05:18:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4069: 0/1 successful episodes +[05/27 05:18:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4187 (index 43/116) +[05/27 05:18:27 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4187 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 05:18:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +Goal: place black pan next to transparent soap bottle +[2026-05-27 05:19:45,093] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:20:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 05:36:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 4187 episode 0 object cookingpan_2042502e26c8e4aa7f1acb4af74ccc69_1_0_2 completed with success=False +[05/27 05:36:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4187: 1 episodes +[05/27 05:36:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:36:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:36:20 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4187 +[05/27 05:36:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4187 in 2.47s (batch: 2.38s, save: 0.09s) +[05/27 05:36:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4187 +[05/27 05:36:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4187: 0/1 successful episodes +[05/27 05:36:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4253 (index 44/116) +[05/27 05:36:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4253 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 05:36:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +[05/27 05:36:38 Worker 0 WARNING object_manager.py:1238] Could not find object objashoe_0ad165ecf7264702b7b805b1d0c3967e_1_0_5 in scene +[05/27 05:36:38 Worker 0 WARNING object_manager.py:1238] Could not find object objacandle_c1c8f8af133d464585c1795735a5f8f0_1_0_5 in scene +Goal: place purple striped paper roll next to red glove +[2026-05-27 05:37:41,277] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:38:14 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 05:51:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 4253 episode 0 object objatoiletpaperroll_afb1da51bd2046a2964742b53eb1b270_1_0_9 completed with success=False +[05/27 05:51:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4253: 1 episodes +[05/27 05:51:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:51:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:51:45 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4253 +[05/27 05:51:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4253 in 2.73s (batch: 2.64s, save: 0.09s) +[05/27 05:51:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4253 +[05/27 05:51:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4253: 0/1 successful episodes +[05/27 05:51:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4293 (index 45/116) +[05/27 05:51:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4293 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 05:51:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +Goal: place black electronic keypad with green display next to yellow glass cutter tool +[2026-05-27 05:52:59,229] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:53:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 06:02:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 4293 episode 0 object objakeypad_b90b37839bb949bba7c5a6ff2f49d1c8_1_0_6 completed with success=False +[05/27 06:02:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4293: 1 episodes +[05/27 06:02:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:02:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:02:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4293 +[05/27 06:02:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4293 in 2.71s (batch: 2.62s, save: 0.09s) +[05/27 06:02:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4293 +[05/27 06:02:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4293: 0/1 successful episodes +[05/27 06:02:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4329 (index 46/116) +[05/27 06:02:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4329 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 06:02:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/27 06:02:30 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_9 in scene +Goal: place mechanical gauntlet next to blue glossy ceramic vase +[2026-05-27 06:03:34,075] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:21:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 4329 episode 0 object objamechanicalgauntlet_46092034259442ec91346f202fb2393e_2_0_8 completed with success=False +[05/27 06:22:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4329: 1 episodes +[05/27 06:22:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:22:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:22:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4329 +[05/27 06:22:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4329 in 2.38s (batch: 2.29s, save: 0.09s) +[05/27 06:22:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4329 +[05/27 06:22:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4329: 0/1 successful episodes +[05/27 06:22:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4412 (index 47/116) +[05/27 06:22:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4412 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 06:22:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +[05/27 06:22:11 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_8 in scene +Goal: place glossy green beetle figurine next to metallic blue laptop +[2026-05-27 06:23:15,065] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:35:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 4412 episode 0 object objadecorativeinsect_3d87721214d44cc6986677a844c80499_1_0_9 completed with success=False +[05/27 06:35:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4412: 1 episodes +[05/27 06:35:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:35:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:35:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4412 +[05/27 06:35:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4412 in 2.73s (batch: 2.64s, save: 0.09s) +[05/27 06:35:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4412 +[05/27 06:35:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4412: 0/1 successful episodes +[05/27 06:35:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4481 (index 48/116) +[05/27 06:35:18 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4481 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 06:35:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/27 [00:00 does not support tracking retries. +Goal: place white marble wedge with markings next to mosaicfragment +[2026-05-27 06:36:26,281] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:36:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 06:48:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 4481 episode 0 object objamarbleslab_7d540d7b25af4e41a58eaeb5037f88a9_1_0_5 completed with success=False +[05/27 06:48:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/27 [00:00 does not support tracking retries. +Goal: place purple snowman card next to blue metallic toaster with buttons +[2026-05-27 06:49:59,002] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:50:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 07:02:02 Worker 0 INFO pipeline.py:1114] Worker 0 house 4481 episode 1 object objagreetingcard_99d51751c64749d68d8da3903cb45194_1_0_6 completed with success=False +[05/27 07:02:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4481: 2 episodes +[05/27 07:02:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:02:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:02:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:02:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:02:11 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4481 +[05/27 07:02:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4481 in 5.09s (batch: 4.91s, save: 0.18s) +[05/27 07:02:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4481 +[05/27 07:02:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4481: 0/2 successful episodes +[05/27 07:02:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4502 (index 49/116) +[05/27 07:02:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4502 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 07:02:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +[05/27 07:02:16 Worker 0 WARNING object_manager.py:1238] Could not find object objacleaningsponge_afd092fac12f4ef8984b80d3d15de232_1_0_5 in scene +[05/27 07:02:16 Worker 0 WARNING object_manager.py:1238] Could not find object objaaerosolcan_b6b64dc8ae6049dbba19ae2cef3575bb_1_0_5 in scene +[05/27 07:02:16 Worker 0 WARNING object_manager.py:1238] Could not find object lettuce_78266f6bc320cc73d50a37e54430a582_1_0_6 in scene +Goal: place blue milk carton with branding next to narwhal skull +[2026-05-27 07:03:20,477] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:15:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 4502 episode 0 object objamilkcarton_aa9103c0122246f68dd367e640df32bb_1_0_7 completed with success=False +[05/27 07:15:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4502: 1 episodes +[05/27 07:15:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:15:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:15:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4502 +[05/27 07:15:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4502 in 3.06s (batch: 2.97s, save: 0.09s) +[05/27 07:15:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4502 +[05/27 07:15:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4502: 0/1 successful episodes +[05/27 07:15:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4631 (index 50/116) +[05/27 07:15:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4631 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 07:15:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[05/27 07:15:19 Worker 0 WARNING object_manager.py:1238] Could not find object objamedicalmask_b52524319c70458db1c3a78f9c096afe_1_0_5 in scene +[05/27 07:15:19 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_083eb9b9eb564701820d3a79377c77ce_1_0_5 in scene +[05/27 07:15:19 Worker 0 WARNING object_manager.py:1238] Could not find object objacleaningsponge_97aee64edf0c4521b82416f3b30c61ce_1_0_5 in scene +[05/27 07:15:19 Worker 0 WARNING object_manager.py:1238] Could not find object candle_1b82c5d62bcdb9c9e0fbc639fdc9e22a_1_0_5 in scene +Goal: place dark gray keypad with numbers next to traditional wooden rubber stamp with metal +[2026-05-27 07:16:26,315] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:30:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 4631 episode 0 object objakeypad_5ec36e995dd94222a1fd26b112b65cd2_2_0_6 completed with success=False +[05/27 07:30:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4631: 1 episodes +[05/27 07:30:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:30:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:30:08 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4631 +[05/27 07:30:08 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4631 in 2.71s (batch: 2.63s, save: 0.09s) +[05/27 07:30:08 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4631 +[05/27 07:30:08 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4631: 0/1 successful episodes +[05/27 07:30:08 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4684 (index 51/116) +[05/27 07:30:08 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4684 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 07:30:08 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/56 [00:00 does not support tracking retries. +Goal: place wooden house keyholder next to realistic pink gradient starfish model +[2026-05-27 07:31:25,301] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:32:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 07:48:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 4684 episode 0 object objakeyholder_7e8733261a034ef5b0302f1ee2fe2554_1_0_3 completed with success=True +[05/27 07:48:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4684: 1 episodes +[05/27 07:48:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 432 timesteps +[05/27 07:48:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:48:58 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4684 +[05/27 07:48:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4684 in 2.35s (batch: 2.27s, save: 0.09s) +[05/27 07:48:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4684 +[05/27 07:48:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4684: 1/1 successful episodes +[05/27 07:48:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4728 (index 52/116) +[05/27 07:48:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4728 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 07:48:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/60 [00:00 does not support tracking retries. +[05/27 07:49:06 Worker 0 WARNING object_manager.py:1238] Could not find object objamultitool_8e4f71b51ecc41488c0bd05491217797_1_0_2 in scene +[05/27 07:49:06 Worker 0 WARNING object_manager.py:1238] Could not find object Irishpotato_19394b332cf16c9d218c9f434ecf9c48_1_0_2 in scene +[05/27 07:49:06 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +Goal: place smoothing iron next to handheld white and orange tape dispenser +[2026-05-27 07:50:09,354] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:50:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 08:09:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 4728 episode 0 object objavintageiron_187871edbc5e40d8a75a4b654ce32146_1_0_2 completed with success=False +[05/27 08:09:56 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4728: 1 episodes +[05/27 08:09:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:09:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:09:58 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4728 +[05/27 08:09:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4728 in 2.48s (batch: 2.39s, save: 0.09s) +[05/27 08:09:59 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4728 +[05/27 08:09:59 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4728: 0/1 successful episodes +[05/27 08:09:59 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4811 (index 53/116) +[05/27 08:09:59 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4811 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 08:09:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/25 [00:00 does not support tracking retries. +Goal: place realistic yellow striped wasp next to rustic carved wooden block +[2026-05-27 08:11:05,062] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:11:42 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 08:21:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 4811 episode 0 object objainsect_2a266405e9044b5495cf55b7298c757b_1_0_6 completed with success=False +[05/27 08:21:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4811: 1 episodes +[05/27 08:21:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:21:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:21:48 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4811 +[05/27 08:21:48 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4811 in 2.78s (batch: 2.69s, save: 0.09s) +[05/27 08:21:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4811 +[05/27 08:21:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4811: 0/1 successful episodes +[05/27 08:21:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4883 (index 54/116) +[05/27 08:21:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4883 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 08:21:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/17 [00:00 does not support tracking retries. +Goal: place blue bifold wallet with brown interior next to glossy black dog statue sitting +[2026-05-27 08:22:55,678] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:23:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 08:30:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 4883 episode 0 object objawallet_284753c433144278b333b617615d6b3a_1_0_2 completed with success=False +[05/27 08:31:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4883: 1 episodes +[05/27 08:31:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:31:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:31:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4883 +[05/27 08:31:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4883 in 2.72s (batch: 2.63s, save: 0.09s) +[05/27 08:31:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4883 +[05/27 08:31:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4883: 0/1 successful episodes +[05/27 08:31:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4981 (index 55/116) +[05/27 08:31:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4981 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 08:31:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/8 [00:00 does not support tracking retries. +Goal: place device next to cream horseshoe neck pillow +[2026-05-27 08:32:10,427] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:37:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 4981 episode 0 object objaopticaldevice_03c6cfba0c13448faef5a7149bf7be86_1_0_2 completed with success=False +[05/27 08:37:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4981: 1 episodes +[05/27 08:37:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:37:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:37:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4981 +[05/27 08:37:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4981 in 2.66s (batch: 2.58s, save: 0.09s) +[05/27 08:37:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4981 +[05/27 08:37:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4981: 0/1 successful episodes +[05/27 08:37:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5101 (index 56/116) +[05/27 08:37:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5101 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 08:37:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/24 [00:00 does not support tracking retries. +Goal: place electricaltransformer next to smooth white ceramic serving bowl +[2026-05-27 08:38:47,209] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:39:19 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 08:44:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 5101 episode 0 object objaelectricaltransformer_6f46f585edac4aeca9634f6ec1f6ead0_2_0_7 completed with success=False +[05/27 08:44:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5101: 1 episodes +[05/27 08:44:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:44:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:44:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5101 +[05/27 08:44:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5101 in 2.48s (batch: 2.39s, save: 0.09s) +[05/27 08:44:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5101 +[05/27 08:44:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5101: 0/1 successful episodes +[05/27 08:44:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5180 (index 57/116) +[05/27 08:44:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5180 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 08:44:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/39 [00:00 does not support tracking retries. +[05/27 08:44:31 Worker 0 WARNING object_manager.py:1238] Could not find object objawoodlog_46bf60dedb084261b4ac8021a6d49f7d_1_0_2 in scene +[05/27 08:44:31 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativespike_e18633481a8b45608e19accc3c0e58a3_1_0_2 in scene +[05/27 08:44:31 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativecoil_ca64528b5f7b4a8092a2583ad8c7d929_1_0_5 in scene +[05/27 08:44:31 Worker 0 WARNING object_manager.py:1238] Could not find object objaheadband_a45e0fe1df584ab4b49c35ef88bd90b0_1_0_5 in scene +Goal: place rusty ring next to golden mace with black handle +[2026-05-27 08:45:34,666] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:57:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 5180 episode 0 object objametalring_f7a6369d6e9b4465a085d8e00690d956_1_0_3 completed with success=False +[05/27 08:57:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5180: 1 episodes +[05/27 08:57:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:57:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:57:15 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5180 +[05/27 08:57:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5180 in 2.45s (batch: 2.36s, save: 0.09s) +[05/27 08:57:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5180 +[05/27 08:57:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5180: 0/1 successful episodes +[05/27 08:57:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5219 (index 58/116) +[05/27 08:57:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5219 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 08:57:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +[05/27 08:57:21 Worker 0 WARNING object_manager.py:1238] Could not find object objainsect_016576dd30c1464f9115584748950ed2_1_0_2 in scene +[05/27 08:57:21 Worker 0 WARNING object_manager.py:1238] Could not find object apple_1d4990dc37d751a859248eaa9d6ecea0_1_0_2 in scene +Goal: place mint pawn next to modern silver toaster with blue accents +[2026-05-27 08:58:23,708] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:59:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 09:11:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 5219 episode 0 object objachesspiece_4a7ca69cec1d45648576c4dd262009d6_1_0_2 completed with success=False +[05/27 09:11:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5219: 1 episodes +[05/27 09:11:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:11:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:11:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5219 +[05/27 09:11:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5219 in 2.44s (batch: 2.35s, save: 0.09s) +[05/27 09:11:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5219 +[05/27 09:11:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5219: 0/1 successful episodes +[05/27 09:11:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5408 (index 59/116) +[05/27 09:11:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5408 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 09:11:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +[05/27 09:11:44 Worker 0 WARNING object_manager.py:1238] Could not find object objastonedish_7bf14a57ee5345689c3efd4bd1616466_1_0_6 in scene +[05/27 09:11:44 Worker 0 WARNING object_manager.py:1238] Could not find object objanameplate_bc384e6f26f84b04997161e3acde4bc3_1_0_6 in scene +Goal: place decorative sign next to smooth green apple +[2026-05-27 09:12:47,195] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:13:19 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 09:22:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 5408 episode 0 object objadecorativesign_718ce2f835cc4281a0b8102773c7b290_1_0_6 completed with success=False +[05/27 09:22:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5408: 1 episodes +[05/27 09:22:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:22:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:22:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5408 +[05/27 09:22:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5408 in 2.40s (batch: 2.31s, save: 0.09s) +[05/27 09:22:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5408 +[05/27 09:22:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5408: 0/1 successful episodes +[05/27 09:22:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5482 (index 60/116) +[05/27 09:22:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5482 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 09:22:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +Goal: place compact black rail mount with slots next to bread +[2026-05-27 09:24:16,803] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:24:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 09:33:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 5482 episode 0 object objarailmount_221ab95129a74da18fbab9b1e15d77f3_1_0_6 completed with success=False +[05/27 09:33:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5482: 1 episodes +[05/27 09:33:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:33:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:33:43 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5482 +[05/27 09:33:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5482 in 2.78s (batch: 2.69s, save: 0.09s) +[05/27 09:33:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5482 +[05/27 09:33:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5482: 0/1 successful episodes +[05/27 09:33:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5568 (index 61/116) +[05/27 09:33:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5568 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 09:33:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +[05/27 09:34:35 Worker 0 WARNING object_manager.py:1238] Could not find object objacleaningsponge_afd092fac12f4ef8984b80d3d15de232_1_0_3 in scene +Goal: place glossy green beetle figurine next to red rosebud turquoise stem +[2026-05-27 09:35:38,708] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:36:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 09:47:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 5568 episode 0 object objadecorativeinsect_3d87721214d44cc6986677a844c80499_1_0_6 completed with success=False +[05/27 09:47:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5568: 1 episodes +[05/27 09:47:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:47:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:47:38 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5568 +[05/27 09:47:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5568 in 2.40s (batch: 2.31s, save: 0.09s) +[05/27 09:47:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5568 +[05/27 09:47:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5568: 0/1 successful episodes +[05/27 09:47:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5628 (index 62/116) +[05/27 09:47:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5628 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 09:47:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +[05/27 09:48:13 Worker 0 WARNING object_manager.py:1238] Could not find object objastoneslab_79f7029be34f4ac9a418454d7967a859_1_0_2 in scene +Goal: place muffler next to beige weathered animal jawbone +[2026-05-27 09:49:17,077] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:58:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 5628 episode 0 object objashockabsorber_09418c0e952b4ccebedd650ef0acad24_1_0_7 completed with success=False +[05/27 09:58:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5628: 1 episodes +[05/27 09:58:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:58:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:58:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5628 +[05/27 09:58:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5628 in 2.52s (batch: 2.43s, save: 0.09s) +[05/27 09:58:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5628 +[05/27 09:58:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5628: 0/1 successful episodes +[05/27 09:58:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5699 (index 63/116) +[05/27 09:58:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5699 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 09:58:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +Goal: place curved pink petal next to sprayer +[2026-05-27 09:59:56,258] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:00:32 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 10:16:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 5699 episode 0 object objadecorativepetal_3609a49ccf984828a25d8b73c0ea672b_1_0_2 completed with success=False +[05/27 10:16:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5699: 1 episodes +[05/27 10:16:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:16:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:16:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5699 +[05/27 10:16:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5699 in 2.47s (batch: 2.38s, save: 0.09s) +[05/27 10:16:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5699 +[05/27 10:16:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5699: 0/1 successful episodes +[05/27 10:16:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5830 (index 64/116) +[05/27 10:16:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5830 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 10:16:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +Goal: place red cylindrical roller next to small gold dog statue +[2026-05-27 10:17:45,779] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:18:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 10:28:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 5830 episode 0 object objaroller_bfa3aab6d6704c0c9a48501cb239bb4d_1_0_6 completed with success=False +[05/27 10:28:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5830: 1 episodes +[05/27 10:28:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:28:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:28:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5830 +[05/27 10:28:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5830 in 2.71s (batch: 2.62s, save: 0.10s) +[05/27 10:28:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5830 +[05/27 10:28:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5830: 0/1 successful episodes +[05/27 10:28:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5905 (index 65/116) +[05/27 10:28:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5905 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 10:28:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[05/27 10:29:08 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingpanel_a3d6f7df9ff94ed59f95d5086d5f3fdd_1_0_7 in scene +Goal: place glossy dark chocolate cube with pink next to container +[2026-05-27 10:30:10,668] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:30:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 10:41:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 5905 episode 0 object objachocolate_9d8bc6de6791425aac600b838103f5ce_1_0_6 completed with success=False +[05/27 10:41:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5905: 1 episodes +[05/27 10:41:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:41:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:41:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5905 +[05/27 10:41:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5905 in 2.43s (batch: 2.34s, save: 0.09s) +[05/27 10:41:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5905 +[05/27 10:41:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5905: 0/1 successful episodes +[05/27 10:41:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5977 (index 66/116) +[05/27 10:41:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5977 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 10:41:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +Goal: place dispenser next to red potato +[2026-05-27 10:42:50,388] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:43:23 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 10:52:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 5977 episode 0 object soapdispenser_e2340594c344cded466620d23f003e8a_1_0_6 completed with success=False +[05/27 10:53:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5977: 1 episodes +[05/27 10:53:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:53:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:53:03 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5977 +[05/27 10:53:03 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5977 in 2.45s (batch: 2.36s, save: 0.09s) +[05/27 10:53:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5977 +[05/27 10:53:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5977: 0/1 successful episodes +[05/27 10:53:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6079 (index 67/116) +[05/27 10:53:04 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6079 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 10:53:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +[05/27 10:53:15 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativebook_a546d2dbdad04856b0649fdb4c8fb672_1_0_4 in scene +[05/27 10:53:15 Worker 0 WARNING object_manager.py:1238] Could not find object plate_5eb7564ba51c03b33a20e901d23c4f3b_2_0_4 in scene +[05/27 10:53:15 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_6 in scene +Goal: place purple rectangular packet with cupcake next to dark red hardcover journal with pages +[2026-05-27 10:54:18,219] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:54:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 10:59:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 6079 episode 0 object objafoodpacket_a784c3ce29d44a899afe3f80a20e4fec_1_0_2 completed with success=False +[05/27 10:59:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6079: 1 episodes +[05/27 10:59:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:59:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:59:06 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6079 +[05/27 10:59:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6079 in 2.41s (batch: 2.32s, save: 0.09s) +[05/27 10:59:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6079 +[05/27 10:59:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6079: 0/1 successful episodes +[05/27 10:59:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6148 (index 68/116) +[05/27 10:59:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6148 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 10:59:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/9 [00:00 does not support tracking retries. +Goal: place shallow wide terracotta bowl next to gray polished human hand statue +[2026-05-27 11:00:33,237] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:01:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 11:06:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 6148 episode 0 object bowl_4d97da0c296398947839b0e020453a0f_1_0_2 completed with success=False +[05/27 11:06:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6148: 1 episodes +[05/27 11:06:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:06:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:06:39 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6148 +[05/27 11:06:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6148 in 2.77s (batch: 2.68s, save: 0.09s) +[05/27 11:06:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6148 +[05/27 11:06:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6148: 0/1 successful episodes +[05/27 11:06:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6227 (index 69/116) +[05/27 11:06:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6227 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 11:06:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/25 [00:00 does not support tracking retries. +[05/27 11:07:13 Worker 0 WARNING object_manager.py:1238] Could not find object pencil_2c624e64d6f8a208a3a089ad77d16aa1_1_0_7 in scene +Goal: place french bulldog sculpture next to irregular yellow porous sponge object +[2026-05-27 11:08:17,201] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:09:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 6227 episode 0 object objasculpture_0aada10d6d7e46dca7cb54a8590b2a41_1_0_7 completed with success=True +[05/27 11:09:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6227: 1 episodes +[05/27 11:09:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 42 timesteps +[05/27 11:09:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:09:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6227 +[05/27 11:09:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6227 in 2.19s (batch: 2.17s, save: 0.03s) +[05/27 11:09:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6227 +[05/27 11:09:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6227: 1/1 successful episodes +[05/27 11:09:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6282 (index 70/116) +[05/27 11:09:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6282 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 11:09:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +Goal: place rustic ceramic bowl with patterns next to gold pump bottle +[2026-05-27 11:11:07,675] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:11:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 11:27:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 6282 episode 0 object objaceramicbowl_66b7280abfa84ed3b5f1ae4d51dfd946_1_0_2 completed with success=False +[05/27 11:27:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6282: 1 episodes +[05/27 11:27:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:27:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:27:29 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6282 +[05/27 11:27:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6282 in 2.50s (batch: 2.41s, save: 0.09s) +[05/27 11:27:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6282 +[05/27 11:27:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6282: 0/1 successful episodes +[05/27 11:27:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6328 (index 71/116) +[05/27 11:27:30 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6328 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 11:27:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +Goal: place gray stake with red spherical top next to decorative star +[2026-05-27 11:28:54,887] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:46:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 6328 episode 0 object objagardenstake_6c526bcea303477ba2cedb27c6c8af53_1_0_6 completed with success=False +[05/27 11:46:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6328: 1 episodes +[05/27 11:46:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:46:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:46:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6328 +[05/27 11:46:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6328 in 2.48s (batch: 2.39s, save: 0.09s) +[05/27 11:46:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6328 +[05/27 11:46:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6328: 0/1 successful episodes +[05/27 11:46:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6400 (index 72/116) +[05/27 11:46:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6400 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 11:46:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +Goal: place green packet next to small green packet +[2026-05-27 11:47:26,352] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:01:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 6400 episode 0 object objafoodpacket_58ff4a1e3fb24fbca6989f9b6d1fe23e_1_0_6 completed with success=False +[05/27 12:01:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6400: 1 episodes +[05/27 12:01:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:01:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:01:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6400 +[05/27 12:01:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6400 in 2.75s (batch: 2.66s, save: 0.09s) +[05/27 12:01:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6400 +[05/27 12:01:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6400: 0/1 successful episodes +[05/27 12:01:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6514 (index 73/116) +[05/27 12:01:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6514 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 12:01:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/18 [00:00 does not support tracking retries. +Goal: place purple spray bottle with white nozzle next to paint can +[2026-05-27 12:03:11,668] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:10:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 6514 episode 0 object atomizer_973bce9435d852757b03afc168e4c1df_1_0_6 completed with success=False +[05/27 12:10:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6514: 1 episodes +[05/27 12:10:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:10:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:10:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6514 +[05/27 12:10:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6514 in 2.67s (batch: 2.58s, save: 0.09s) +[05/27 12:10:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6514 +[05/27 12:10:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6514: 0/1 successful episodes +[05/27 12:10:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6548 (index 74/116) +[05/27 12:10:56 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 6548 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 12:10:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +[05/27 12:11:15 Worker 0 WARNING object_manager.py:1238] Could not find object objarodent_a7ca84f5b2224c9087aac4b4fb88ae3e_1_0_3 in scene +[05/27 12:11:15 Worker 0 WARNING object_manager.py:1238] Could not find object plate_ac19ca22ae10d8179cdc8dc68e02072d_2_0_3 in scene +Goal: place soup can next to irishpotato +[2026-05-27 12:12:18,555] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:12:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 12:27:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 6548 episode 0 object objasoupcan_7f207bacacd04ac88c54babf487ae570_1_0_2 completed with success=False +[05/27 12:27:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +[05/27 12:27:52 Worker 0 WARNING object_manager.py:1238] Could not find object objarodent_a7ca84f5b2224c9087aac4b4fb88ae3e_1_0_3 in scene +[05/27 12:27:52 Worker 0 WARNING object_manager.py:1238] Could not find object plate_ac19ca22ae10d8179cdc8dc68e02072d_2_0_3 in scene +Goal: place blue handheld ergonomic 3d scanner next to crockery +[2026-05-27 12:28:55,225] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:29:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 12:44:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 6548 episode 1 object obja3dscanner_35ce1f77245c4aeb903f6ec11634e83b_1_0_4 completed with success=False +[05/27 12:44:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6548: 2 episodes +[05/27 12:44:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:44:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:44:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:44:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:44:30 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6548 +[05/27 12:44:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6548 in 4.76s (batch: 4.59s, save: 0.17s) +[05/27 12:44:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6548 +[05/27 12:44:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6548: 0/2 successful episodes +[05/27 12:44:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6603 (index 75/116) +[05/27 12:44:30 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6603 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 12:44:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[05/27 12:45:01 Worker 0 WARNING object_manager.py:1238] Could not find object objatapedispenser_2988a85fdf0f4a679b17335bd8e26871_1_0_5 in scene +[05/27 12:45:01 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_083eb9b9eb564701820d3a79377c77ce_1_0_5 in scene +[05/27 12:45:01 Worker 0 WARNING object_manager.py:1238] Could not find object objadentures_46145e0221e94a3185b215c07d0f4340_1_0_7 in scene +[05/27 12:45:01 Worker 0 WARNING object_manager.py:1238] Could not find object objamarbleslab_7d540d7b25af4e41a58eaeb5037f88a9_1_0_7 in scene +Goal: place chain next to brown chihuahua +[2026-05-27 12:46:05,279] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:47:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:01:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 6603 episode 0 object objadecorativechain_a3ce79a459cc4849868eb2ab508dbd80_1_0_9 completed with success=False +[05/27 13:01:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6603: 1 episodes +[05/27 13:01:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:01:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:01:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6603 +[05/27 13:01:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6603 in 2.43s (batch: 2.34s, save: 0.09s) +[05/27 13:01:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6603 +[05/27 13:01:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6603: 0/1 successful episodes +[05/27 13:01:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6722 (index 76/116) +[05/27 13:01:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6722 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 13:01:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +Goal: place yellow handheld gps with blue screen next to white spine book +[2026-05-27 13:02:48,852] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:03:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:16:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 6722 episode 0 object objagpsdevice_d6d1d149471143fd9488fcdb7818b2d3_1_0_2 completed with success=False +[05/27 13:16:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6722: 1 episodes +[05/27 13:16:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:16:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:16:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6722 +[05/27 13:16:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6722 in 2.47s (batch: 2.38s, save: 0.09s) +[05/27 13:16:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6722 +[05/27 13:16:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6722: 0/1 successful episodes +[05/27 13:16:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6792 (index 77/116) +[05/27 13:16:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6792 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 13:16:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/56 [00:00 does not support tracking retries. +[05/27 13:17:08 Worker 0 WARNING object_manager.py:1238] Could not find object objamedicalmask_b52524319c70458db1c3a78f9c096afe_1_0_5 in scene +[05/27 13:17:08 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_9 in scene +Goal: place hand drill next to blocky pixelated hammer +[2026-05-27 13:18:11,391] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:34:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 6792 episode 0 object objahanddrill_3cb8cc146b98499fa093e6ba745ff7c4_1_0_7 completed with success=False +[05/27 13:34:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6792: 1 episodes +[05/27 13:34:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:34:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:34:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6792 +[05/27 13:34:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6792 in 2.63s (batch: 2.54s, save: 0.09s) +[05/27 13:34:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6792 +[05/27 13:34:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6792: 0/1 successful episodes +[05/27 13:34:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6917 (index 78/116) +[05/27 13:34:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6917 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 13:34:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/56 [00:00 does not support tracking retries. +Goal: place dark vintage iron nutcracker next to decorative plate +[2026-05-27 13:36:25,338] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:54:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 6917 episode 0 object objanutcracker_94c36df60580408ea582ad83c55cdca0_1_0_2 completed with success=False +[05/27 13:54:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6917: 1 episodes +[05/27 13:54:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:54:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:54:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6917 +[05/27 13:54:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6917 in 2.42s (batch: 2.33s, save: 0.09s) +[05/27 13:54:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6917 +[05/27 13:54:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6917: 0/1 successful episodes +[05/27 13:54:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6987 (index 79/116) +[05/27 13:54:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6987 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 13:54:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +Goal: place toy box next to detailed visible desert camouflage tank +[2026-05-27 13:56:09,435] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:56:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 14:09:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 6987 episode 0 object objatoystoragebox_b47be2bc67884e0397463a236e689b92_1_0_6 completed with success=False +[05/27 14:09:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6987: 1 episodes +[05/27 14:09:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:09:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:09:41 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6987 +[05/27 14:09:41 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6987 in 2.45s (batch: 2.36s, save: 0.09s) +[05/27 14:09:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6987 +[05/27 14:09:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6987: 0/1 successful episodes +[05/27 14:09:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7042 (index 80/116) +[05/27 14:09:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7042 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 14:09:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +Goal: place white ergonomic handheld device with display next to wooden house with hooks +[2026-05-27 14:10:57,808] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:11:30 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 14:18:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 7042 episode 0 object objahandhelddevice_a25db99294664f0ea8f871f67bd77077_1_0_7 completed with success=False +[05/27 14:18:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7042: 1 episodes +[05/27 14:18:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:18:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:18:45 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7042 +[05/27 14:18:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7042 in 2.47s (batch: 2.38s, save: 0.09s) +[05/27 14:18:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7042 +[05/27 14:18:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7042: 0/1 successful episodes +[05/27 14:18:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7101 (index 81/116) +[05/27 14:18:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7101 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 14:18:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +[05/27 14:19:11 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeartpiece_d50ff27e57074d4ab85909a9f66a5e34_1_0_2 in scene +[05/27 14:19:11 Worker 0 WARNING object_manager.py:1238] Could not find object objaathleticshoe_d9a3419498434fcdb94cfc9a907fe1cd_1_0_5 in scene +[05/27 14:19:11 Worker 0 WARNING object_manager.py:1238] Could not find object candle_1b82c5d62bcdb9c9e0fbc639fdc9e22a_1_0_5 in scene +Goal: place white scepter next to red bomb with timer and wires +[2026-05-27 14:20:14,237] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:20:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 14:33:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 7101 episode 0 object objadecorativescepter_1eb62803af504e558ea4c6325413dfe3_1_0_4 completed with success=False +[05/27 14:33:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7101: 1 episodes +[05/27 14:33:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:33:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:33:19 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7101 +[05/27 14:33:19 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7101 in 2.52s (batch: 2.43s, save: 0.09s) +[05/27 14:33:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7101 +[05/27 14:33:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7101: 0/1 successful episodes +[05/27 14:33:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7185 (index 82/116) +[05/27 14:33:19 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7185 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 14:33:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +Goal: place beige vintage calculator with antenna next to gray laptop +[2026-05-27 14:34:40,701] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:48:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 7185 episode 0 object objacalculatorradio_d17ba864b7a94eacaa34ee919210ba8d_1_0_6 completed with success=False +[05/27 14:48:35 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7185: 1 episodes +[05/27 14:48:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:48:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:48:38 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7185 +[05/27 14:48:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7185 in 2.47s (batch: 2.37s, save: 0.09s) +[05/27 14:48:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7185 +[05/27 14:48:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7185: 0/1 successful episodes +[05/27 14:48:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7304 (index 83/116) +[05/27 14:48:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7304 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 14:48:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/44 [00:00 does not support tracking retries. +[05/27 14:48:55 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeaccessory_e47911ac361a45c3b6c7f2f1d9071876_1_0_7 in scene +[05/27 14:48:55 Worker 0 WARNING object_manager.py:1238] Could not find object objaartifact_094a39bf1aa24447ba0120adfd2d2073_1_0_7 in scene +Goal: place smoke grenade next to red tomato +[2026-05-27 14:49:57,350] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:50:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:03:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 7304 episode 0 object objagrenade_d61768fbc7494143bb87852c36d1beaa_1_0_8 completed with success=False +[05/27 15:03:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7304: 1 episodes +[05/27 15:03:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:03:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:03:41 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7304 +[05/27 15:03:41 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7304 in 2.76s (batch: 2.67s, save: 0.09s) +[05/27 15:03:42 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7304 +[05/27 15:03:42 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7304: 0/1 successful episodes +[05/27 15:03:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7350 (index 84/116) +[05/27 15:03:42 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7350 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 15:03:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/9 [00:00 does not support tracking retries. +Goal: place glossy orange bell pepper with stem next to irish potato +[2026-05-27 15:04:54,970] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:05:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:11:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 7350 episode 0 object objabellpepper_aef570243a09466e818dd97d27cbd9dc_1_0_2 completed with success=False +[05/27 15:11:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7350: 1 episodes +[05/27 15:11:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:11:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:11:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7350 +[05/27 15:11:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7350 in 2.39s (batch: 2.30s, save: 0.09s) +[05/27 15:11:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7350 +[05/27 15:11:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7350: 0/1 successful episodes +[05/27 15:11:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7420 (index 85/116) +[05/27 15:11:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7420 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 15:11:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/56 [00:00 does not support tracking retries. +Goal: place instrumentality next to white embossed wedding card +[2026-05-27 15:12:40,526] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:28:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 7420 episode 0 object objapackage_aa9326180c1d48bebc96097c82ae4d6c_1_0_2 completed with success=False +[05/27 15:28:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7420: 1 episodes +[05/27 15:28:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:28:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:28:51 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7420 +[05/27 15:28:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7420 in 2.77s (batch: 2.67s, save: 0.09s) +[05/27 15:28:52 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7420 +[05/27 15:28:52 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7420: 0/1 successful episodes +[05/27 15:28:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7475 (index 86/116) +[05/27 15:28:52 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7475 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 15:28:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/13 [00:00 does not support tracking retries. +Goal: place wooden brush next to plump raw yellow chicken +[2026-05-27 15:30:03,757] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:37:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 7475 episode 0 object objapaintbrush_be6bd6967866421ea9dff02b84062bdf_1_0_3 completed with success=False +[05/27 15:37:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7475: 1 episodes +[05/27 15:37:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:37:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:37:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7475 +[05/27 15:37:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7475 in 2.69s (batch: 2.60s, save: 0.09s) +[05/27 15:37:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7475 +[05/27 15:37:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7475: 0/1 successful episodes +[05/27 15:37:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7576 (index 87/116) +[05/27 15:37:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7576 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 15:37:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/32 [00:00 does not support tracking retries. +[05/27 15:37:42 Worker 0 WARNING object_manager.py:1238] Could not find object objamodelship_6e8cfcffcb3944c2b2b88f8548489993_1_0_6 in scene +[05/27 15:37:42 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_23e99c616e7c0667edeeacb9669a5e0b_1_0_6 in scene +Goal: place decorative brown helmet with straps next to vintage wooden telephone +[2026-05-27 15:38:46,345] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:39:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:49:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 7576 episode 0 object objadecorativehelmet_9391d72042e541cf84721bfc158fb229_1_0_7 completed with success=False +[05/27 15:49:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7576: 1 episodes +[05/27 15:49:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:49:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:49:28 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7576 +[05/27 15:49:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7576 in 2.45s (batch: 2.36s, save: 0.09s) +[05/27 15:49:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7576 +[05/27 15:49:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7576: 0/1 successful episodes +[05/27 15:49:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7676 (index 88/116) +[05/27 15:49:29 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7676 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 15:49:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +Goal: place black handled curved sickle next to yellow and orange fish submarine +[2026-05-27 15:50:45,410] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:51:20 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:58:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 7676 episode 0 object objasickle_0c3d6826668b4c7ea9477484d4ebeed4_1_0_2 completed with success=False +[05/27 15:58:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7676: 1 episodes +[05/27 15:58:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:58:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:58:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7676 +[05/27 15:58:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7676 in 2.42s (batch: 2.33s, save: 0.09s) +[05/27 15:58:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7676 +[05/27 15:58:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7676: 0/1 successful episodes +[05/27 15:58:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7777 (index 89/116) +[05/27 15:58:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7777 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 15:58:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +Goal: place taper next to lighthouse with striped tower +[2026-05-27 15:59:28,164] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:09:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 7777 episode 0 object objacandle_42ad9182fa98425c99bfd06e1aa33e18_1_0_5 completed with success=False +[05/27 16:10:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7777: 1 episodes +[05/27 16:10:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:10:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:10:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7777 +[05/27 16:10:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7777 in 2.43s (batch: 2.34s, save: 0.09s) +[05/27 16:10:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7777 +[05/27 16:10:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7777: 0/1 successful episodes +[05/27 16:10:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7868 (index 90/116) +[05/27 16:10:04 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7868 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 16:10:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +Goal: place gold ornament next to soft white pillow with quilting +[2026-05-27 16:11:25,271] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:11:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 16:20:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 7868 episode 0 object objadecorativefixture_e14a2e218f6e4a588489e4b5508bff5e_1_0_7 completed with success=False +[05/27 16:20:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7868: 1 episodes +[05/27 16:20:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:20:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:20:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7868 +[05/27 16:20:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7868 in 2.70s (batch: 2.61s, save: 0.09s) +[05/27 16:20:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7868 +[05/27 16:20:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7868: 0/1 successful episodes +[05/27 16:20:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7980 (index 91/116) +[05/27 16:20:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7980 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 16:20:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +Goal: place silver sturdy metal hinge next to smooth yellow apple with stem +[2026-05-27 16:21:35,645] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:22:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 16:28:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 7980 episode 0 object objahinge_f2cfb95a05874d8eabb78f90efed2983_1_0_2 completed with success=False +[05/27 16:28:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7980: 1 episodes +[05/27 16:28:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:28:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:28:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7980 +[05/27 16:28:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7980 in 2.39s (batch: 2.30s, save: 0.09s) +[05/27 16:28:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7980 +[05/27 16:28:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7980: 0/1 successful episodes +[05/27 16:28:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8081 (index 92/116) +[05/27 16:28:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8081 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 16:28:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +[05/27 16:28:55 Worker 0 WARNING object_manager.py:1238] Could not find object objachisel_47f47ebbca6b4b92ab51302a4bde91fd_1_0_4 in scene +Goal: place white shell with blue accents next to bulbous shiny gold vase +[2026-05-27 16:29:59,459] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:30:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 16:44:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 8081 episode 0 object objacasing_f7c919ec53a748038436a18cd83e6b3d_1_0_4 completed with success=False +[05/27 16:44:50 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8081: 1 episodes +[05/27 16:44:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:44:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:44:52 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8081 +[05/27 16:44:52 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8081 in 2.46s (batch: 2.37s, save: 0.09s) +[05/27 16:44:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8081 +[05/27 16:44:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8081: 0/1 successful episodes +[05/27 16:44:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8141 (index 93/116) +[05/27 16:44:53 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8141 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 16:44:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 does not support tracking retries. +Goal: place vessel next to smooth elongated tan loaf +[2026-05-27 16:46:16,250] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:47:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 17:01:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 8141 episode 0 object objaflask_a9cedb7fc2d74f95ae7bc2b72960d3c6_1_0_8 completed with success=False +[05/27 17:01:06 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8141: 1 episodes +[05/27 17:01:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:01:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:01:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8141 +[05/27 17:01:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8141 in 2.46s (batch: 2.37s, save: 0.09s) +[05/27 17:01:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8141 +[05/27 17:01:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8141: 0/1 successful episodes +[05/27 17:01:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8232 (index 94/116) +[05/27 17:01:09 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8232 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 17:01:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +[05/27 17:01:30 Worker 0 WARNING object_manager.py:1238] Could not find object objarunningshoe_98f45c9d6b3949fe9bf712b2773fc92e_1_0_5 in scene +[05/27 17:01:30 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_5 in scene +[05/27 17:01:30 Worker 0 WARNING object_manager.py:1238] Could not find object objareplicagrenade_7edd60c4948642b290d863898cacd3dd_1_0_6 in scene +[05/27 17:01:30 Worker 0 WARNING object_manager.py:1238] Could not find object cup_a4bc4557e863c56d9b0accc2703dbbe4_1_0_6 in scene +Goal: place brown bird next to bulbous shiny gold metallic vase +[2026-05-27 17:02:36,633] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:04:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 8232 episode 0 object objadecorativebird_b4371275a3d8455d861926a06e68f63b_1_0_7 completed with success=True +[05/27 17:04:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8232: 1 episodes +[05/27 17:04:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 178 timesteps +[05/27 17:04:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:04:48 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8232 +[05/27 17:04:48 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8232 in 2.52s (batch: 2.46s, save: 0.06s) +[05/27 17:04:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8232 +[05/27 17:04:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8232: 1/1 successful episodes +[05/27 17:04:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8312 (index 95/116) +[05/27 17:04:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8312 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 17:04:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +[05/27 17:04:58 Worker 0 WARNING object_manager.py:1238] Could not find object objamodelblimp_38ffa448ceff406d987f4b71acab5fb2_2_0_2 in scene +[05/27 17:04:58 Worker 0 WARNING object_manager.py:1238] Could not find object plate_b7993147fccc9ed6100d789b3917e22e_1_0_2 in scene +Goal: place black rubber mallet with wooden handle next to white 2% milk carton with branding +[2026-05-27 17:06:02,800] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:06:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 17:23:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 8312 episode 0 object objarubbermallet_57fc7be2efcd4284a9514f05dbb51942_2_0_4 completed with success=False +[05/27 17:23:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8312: 1 episodes +[05/27 17:23:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:23:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:23:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8312 +[05/27 17:23:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8312 in 2.72s (batch: 2.63s, save: 0.09s) +[05/27 17:23:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8312 +[05/27 17:23:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8312: 0/1 successful episodes +[05/27 17:23:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8389 (index 96/116) +[05/27 17:23:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8389 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 17:23:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/34 [00:00 does not support tracking retries. +Goal: place binoculars next to open shark jaws +[2026-05-27 17:24:40,703] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:25:16 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 17:38:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 8389 episode 0 object objanightvisiongoggles_eae7cbfcd0ec4060bde31338845ea44c_1_0_6 completed with success=False +[05/27 17:38:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8389: 1 episodes +[05/27 17:38:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:38:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:38:41 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8389 +[05/27 17:38:41 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8389 in 2.72s (batch: 2.63s, save: 0.09s) +[05/27 17:38:42 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8389 +[05/27 17:38:42 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8389: 0/1 successful episodes +[05/27 17:38:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8460 (index 97/116) +[05/27 17:38:42 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8460 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 17:38:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +Goal: place glossy square dark chocolate next to red tomato +[2026-05-27 17:39:52,712] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:48:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 8460 episode 0 object objachocolatebar_38a2c03610004351acc0cce85ba022e2_3_0_6 completed with success=False +[05/27 17:48:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8460: 1 episodes +[05/27 17:48:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:48:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:48:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8460 +[05/27 17:48:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8460 in 2.53s (batch: 2.43s, save: 0.09s) +[05/27 17:48:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8460 +[05/27 17:48:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8460: 0/1 successful episodes +[05/27 17:48:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8542 (index 98/116) +[05/27 17:48:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8542 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 17:48:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/7 [00:00 does not support tracking retries. +Goal: place yellow striped bee next to fresh medium green romaine lettuce +[2026-05-27 17:49:56,609] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:50:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 17:55:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 8542 episode 0 object objadecorativeinsect_40804168b9a340d8935fa277c9e5de74_1_0_2 completed with success=False +[05/27 17:55:25 [1;37mWorker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8542: 1 episodes +[05/27 17:55:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:55:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:55:28 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8542 +[05/27 17:55:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8542 in 2.76s (batch: 2.67s, save: 0.09s) +[05/27 17:55:28 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8542 +[05/27 17:55:28 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8542: 0/1 successful episodes +[05/27 17:55:28 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8648 (index 99/116) +[05/27 17:55:28 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8648 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 17:55:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +Goal: place compact handheld gimbal camera with screen next to golden brown artisanal bread +[2026-05-27 17:56:46,176] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:10:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 8648 episode 0 object objagimbalcamera_13523a1c494f4a159aa90ac014c03221_1_0_8 completed with success=False +[05/27 18:10:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8648: 1 episodes +[05/27 18:10:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:10:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:10:52 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8648 +[05/27 18:10:52 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8648 in 2.74s (batch: 2.65s, save: 0.09s) +[05/27 18:10:52 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8648 +[05/27 18:10:52 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8648: 0/1 successful episodes +[05/27 18:10:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8725 (index 100/116) +[05/27 18:10:52 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8725 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 18:10:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +Goal: place white remote control with colorful buttons next to smooth green rectangular pillow +[2026-05-27 18:12:11,379] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:12:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 18:24:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 8725 episode 0 object objaremotecontrol_d72eebbf82be48f0a53e7e8b712e6a66_1_0_6 completed with success=False +[05/27 18:24:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8725: 1 episodes +[05/27 18:24:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:24:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:24:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8725 +[05/27 18:24:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8725 in 2.82s (batch: 2.72s, save: 0.09s) +[05/27 18:24:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8725 +[05/27 18:24:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8725: 0/1 successful episodes +[05/27 18:24:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8833 (index 101/116) +[05/27 18:24:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8833 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 18:24:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +[05/27 18:24:44 Worker 0 WARNING object_manager.py:1238] Could not find object objawalkingstick_4f178c32dc494b5e8c57e6f7673bf3c9_1_0_2 in scene +Goal: place butt hinge next to yellowed parchment with red wax seal +[2026-05-27 18:25:47,622] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:26:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 18:28:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 8833 episode 0 object objahinge_1ffa7463a95647c5bc8c07359ff161ae_1_0_6 completed with success=True +[05/27 18:28:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8833: 1 episodes +[05/27 18:28:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 90 timesteps +[05/27 18:28:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:28:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8833 +[05/27 18:28:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8833 in 2.18s (batch: 2.15s, save: 0.04s) +[05/27 18:28:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8833 +[05/27 18:28:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8833: 1/1 successful episodes +[05/27 18:28:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8884 (index 102/116) +[05/27 18:28:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8884 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 18:28:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/27 18:28:43 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +[05/27 18:28:43 Worker 0 WARNING object_manager.py:1238] Could not find object objalantern_4cdb208ff30a4e5493f73fef6246604d_1_0_7 in scene +[05/27 18:28:43 Worker 0 WARNING object_manager.py:1238] Could not find object objalighter_b4f0807272244a82aae694536db1b0b2_1_0_7 in scene +Goal: place handmirror next to medieval soldier with spear +[2026-05-27 18:29:45,136] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:42:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 8884 episode 0 object objahandmirror_a3348d3e4a674350af738e8cf20ec378_1_0_4 completed with success=False +[05/27 18:42:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8884: 1 episodes +[05/27 18:42:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:42:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:42:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8884 +[05/27 18:42:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8884 in 2.80s (batch: 2.70s, save: 0.09s) +[05/27 18:42:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8884 +[05/27 18:42:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8884: 0/1 successful episodes +[05/27 18:42:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8972 (index 103/116) +[05/27 18:42:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8972 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 18:42:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +Goal: place black cast iron teapot with autumn leaves next to red conical flower with leaves +[2026-05-27 18:44:06,322] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:44:42 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 18:53:02 Worker 0 INFO pipeline.py:1114] Worker 0 house 8972 episode 0 object objateapot_50ac7cdcf9b440a78a9243f8fab4ff53_1_0_2 completed with success=False +[05/27 18:53:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8972: 1 episodes +[05/27 18:53:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:53:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:53:08 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8972 +[05/27 18:53:08 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8972 in 2.51s (batch: 2.42s, save: 0.09s) +[05/27 18:53:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8972 +[05/27 18:53:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8972: 0/1 successful episodes +[05/27 18:53:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9024 (index 104/116) +[05/27 18:53:09 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9024 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 18:53:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +Goal: place black decorative sign with guitar next to blue handled scissors +[2026-05-27 18:54:25,675] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:54:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:07:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 9024 episode 0 object objadecorativesign_b44dd97814b44a049bd81501c6850bcf_1_0_2 completed with success=False +[05/27 19:07:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9024: 1 episodes +[05/27 19:07:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:07:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:07:38 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9024 +[05/27 19:07:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9024 in 2.74s (batch: 2.62s, save: 0.12s) +[05/27 19:07:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9024 +[05/27 19:07:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9024: 0/1 successful episodes +[05/27 19:07:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9092 (index 105/116) +[05/27 19:07:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9092 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 19:07:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +Goal: place sharp kitchen knife with wooden handle next to compact blue toaster +[2026-05-27 19:09:11,802] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:28:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 9092 episode 0 object objakitchenknife_ab324ce501ee4ce9a35f3df76817dcfb_1_0_2 completed with success=False +[05/27 19:28:17 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9092: 1 episodes +[05/27 19:28:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:28:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:28:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9092 +[05/27 19:28:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9092 in 2.52s (batch: 2.41s, save: 0.10s) +[05/27 19:28:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9092 +[05/27 19:28:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9092: 0/1 successful episodes +[05/27 19:28:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9163 (index 106/116) +[05/27 19:28:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9163 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 19:28:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/44 [00:00 does not support tracking retries. +[05/27 19:28:42 Worker 0 WARNING object_manager.py:1238] Could not find object objadentures_46145e0221e94a3185b215c07d0f4340_1_0_7 in scene +[05/27 19:28:42 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaperroll_d72efd4c78e146d88aeff93a721c5330_1_0_7 in scene +Goal: place wall hook next to yellow vase +[2026-05-27 19:29:45,783] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:30:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:44:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 9163 episode 0 object objawallhook_7326578d9a0947e3890e8d50db79a033_1_0_4 completed with success=False +[05/27 19:44:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9163: 1 episodes +[05/27 19:44:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:44:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:44:24 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9163 +[05/27 19:44:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9163 in 2.80s (batch: 2.71s, save: 0.09s) +[05/27 19:44:25 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9163 +[05/27 19:44:25 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9163: 0/1 successful episodes +[05/27 19:44:25 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9187 (index 107/116) +[05/27 19:44:25 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 9187 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 19:44:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[05/27 19:44:33 Worker 0 WARNING object_manager.py:1238] Could not find object objaswitchplate_80ed82d00f494be2b5a8706d3c06c832_1_0_5 in scene +[05/27 19:44:33 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene +[05/27 19:44:33 Worker 0 WARNING object_manager.py:1238] Could not find object objaduck_7db7cf276de344fca99a29c88bb1e7df_1_0_8 in scene +[05/27 19:44:33 Worker 0 WARNING object_manager.py:1238] Could not find object cup_10a41d8e2f259cb0d60e0069b1683f0a_1_0_8 in scene +Goal: place small green seedling in terracotta pot next to medium cardboard box with flaps +[2026-05-27 19:45:38,245] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:46:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:59:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 9187 episode 0 object objaplantpot_51030882447e428a8efec83649ee3172_1_0_9 completed with success=False +[05/27 19:59:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[05/27 19:59:46 Worker 0 WARNING object_manager.py:1238] Could not find object objaswitchplate_80ed82d00f494be2b5a8706d3c06c832_1_0_5 in scene +[05/27 19:59:46 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene +[05/27 19:59:46 Worker 0 WARNING object_manager.py:1238] Could not find object objaduck_7db7cf276de344fca99a29c88bb1e7df_1_0_8 in scene +[05/27 19:59:46 Worker 0 WARNING object_manager.py:1238] Could not find object cup_10a41d8e2f259cb0d60e0069b1683f0a_1_0_8 in scene +Goal: place glossy slender curved green stick next to metal spear +[2026-05-27 20:00:48,794] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:01:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:14:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 9187 episode 1 object objadecorativerod_3dd7a9dee7234665826875b678fac3eb_1_0_9 completed with success=False +[05/27 20:14:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9187: 2 episodes +[05/27 20:14:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:14:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:14:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:14:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:14:39 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9187 +[05/27 20:14:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9187 in 5.43s (batch: 5.26s, save: 0.17s) +[05/27 20:14:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9187 +[05/27 20:14:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9187: 0/2 successful episodes +[05/27 20:14:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9252 (index 108/116) +[05/27 20:14:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9252 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 20:14:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/60 [00:00 does not support tracking retries. +[05/27 20:14:58 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturelighthouse_bde6dcab0a89413eba4422da59f19cef_1_0_5 in scene +[05/27 20:14:58 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativesymbol_096e1889564d4e9c8836c7805c1ecebf_1_0_5 in scene +[05/27 20:14:58 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +[05/27 20:14:58 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_2_0_7 in scene +Goal: place green smoke grenade next to small brown oval potato +[2026-05-27 20:16:03,795] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:16:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:32:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 9252 episode 0 object objasmokegrenade_6dbb48151a9147b4830aa7bf55fc8282_1_0_2 completed with success=False +[05/27 20:32:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9252: 1 episodes +[05/27 20:32:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:32:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:32:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9252 +[05/27 20:32:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9252 in 2.45s (batch: 2.36s, save: 0.09s) +[05/27 20:32:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9252 +[05/27 20:32:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9252: 0/1 successful episodes +[05/27 20:32:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9320 (index 109/116) +[05/27 20:32:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9320 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 20:32:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/13 [00:00 does not support tracking retries. +Goal: place dark stone cylindrical seal with carvings next to dark metal cooking pot +[2026-05-27 20:33:40,477] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:40:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 9320 episode 0 object objacylinderseal_faa5a6851ee44affa0655094c13fd3b0_1_0_2 completed with success=False +[05/27 20:40:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9320: 1 episodes +[05/27 20:40:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:40:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:40:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9320 +[05/27 20:40:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9320 in 2.47s (batch: 2.38s, save: 0.09s) +[05/27 20:40:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9320 +[05/27 20:40:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9320: 0/1 successful episodes +[05/27 20:40:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9423 (index 110/116) +[05/27 20:40:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9423 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 20:40:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 does not support tracking retries. +Goal: place dark horse knight chess piece next to light gray wooden bowl +[2026-05-27 20:42:10,494] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:42:42 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:57:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 9423 episode 0 object objachesspiece_d7e344aa00cc462586cede69e49613fd_1_0_3 completed with success=False +[05/27 20:57:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9423: 1 episodes +[05/27 20:57:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:57:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:57:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9423 +[05/27 20:57:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9423 in 2.62s (batch: 2.53s, save: 0.09s) +[05/27 20:57:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9423 +[05/27 20:57:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9423: 0/1 successful episodes +[05/27 20:57:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9502 (index 111/116) +[05/27 20:57:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9502 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 20:57:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +[05/27 20:58:14 Worker 0 WARNING object_manager.py:1238] Could not find object objasign_34df7c8bc2604403b69cfda448a2ff8e_1_0_3 in scene +Goal: place intricate dark wooden molding with carvings next to large mottled bone vertebra +[2026-05-27 20:59:19,137] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:59:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 21:14:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 9502 episode 0 object objamolding_0cec9637549f4355a4067cbf732f028f_1_0_3 completed with success=False +[05/27 21:14:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9502: 1 episodes +[05/27 21:14:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 21:14:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 21:14:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9502 +[05/27 21:14:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9502 in 2.42s (batch: 2.33s, save: 0.09s) +[05/27 21:14:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9502 +[05/27 21:14:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9502: 0/1 successful episodes +[05/27 21:14:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9588 (index 112/116) +[05/27 21:14:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9588 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 21:14:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +[05/27 21:15:01 Worker 0 WARNING object_manager.py:1238] Could not find object objarubbermallet_f6f3eee2d418463bbab1abe93e274d60_1_0_2 in scene +[05/27 21:15:01 Worker 0 WARNING object_manager.py:1238] Could not find object tomato_b4fe73bc978b2372694676fd9d6ef462_1_0_2 in scene +Goal: place triangular pink cheese wedge next to green apple +[2026-05-27 21:16:04,388] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 21:16:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 21:22:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 9588 episode 0 object objacheese_b945c8c26cf540229510b7d9e65f98c7_1_0_2 completed with success=False +[05/27 21:22:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9588: 1 episodes +[05/27 21:22:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 21:22:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 21:22:57 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9588 +[05/27 21:22:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9588 in 2.41s (batch: 2.32s, save: 0.09s) +[05/27 21:22:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9588 +[05/27 21:22:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9588: 0/1 successful episodes +[05/27 21:22:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9651 (index 113/116) +[05/27 21:22:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9651 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 21:22:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[05/27 21:23:17 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingpanel_8bde878be8dd4fb7b6914db9c4dd31bb_1_0_6 in scene +Goal: place blocky wooden hourglass with sand next to slim blue phone device +[2026-05-27 21:24:22,507] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 21:24:54 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 21:37:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 9651 episode 0 object objahourglass_e278f37f71ac4e2e980c6ef53899c2d7_1_0_8 completed with success=False +[05/27 21:37:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9651: 1 episodes +[05/27 21:37:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 21:37:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 21:37:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9651 +[05/27 21:37:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9651 in 2.73s (batch: 2.64s, save: 0.09s) +[05/27 21:37:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9651 +[05/27 21:37:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9651: 0/1 successful episodes +[05/27 21:37:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9727 (index 114/116) +[05/27 21:37:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9727 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 21:37:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +[05/27 21:37:43 Worker 0 WARNING object_manager.py:1238] Could not find object vase_d568e4c5c2948c69c05d527517276b06_1_0_2 in scene +Goal: place dark stone cylindrical seal with carvings next to brown fish with large eyes +[2026-05-27 21:38:47,566] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 21:48:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 9727 episode 0 object objacylinderseal_faa5a6851ee44affa0655094c13fd3b0_1_0_6 completed with success=False +[05/27 21:48:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9727: 1 episodes +[05/27 21:48:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 21:48:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 21:48:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9727 +[05/27 21:48:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9727 in 2.66s (batch: 2.57s, save: 0.09s) +[05/27 21:48:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9727 +[05/27 21:48:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9727: 0/1 successful episodes +[05/27 21:48:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9887 (index 115/116) +[05/27 21:48:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9887 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 21:48:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +[05/27 21:48:51 Worker 0 WARNING object_manager.py:1238] Could not find object objatube_747652d3308142278b333f1e2ee13549_1_0_9 in scene +Goal: place stoneaxe next to white hardcover academic book +[2026-05-27 21:49:57,338] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 22:06:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 9887 episode 0 object objastoneaxe_11654de384f440d7ba70c71febdff3cc_1_0_2 completed with success=False +[05/27 22:06:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9887: 1 episodes +[05/27 22:06:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 22:06:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 22:06:51 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9887 +[05/27 22:06:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9887 in 2.69s (batch: 2.60s, save: 0.09s) +[05/27 22:06:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9887 +[05/27 22:06:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9887: 0/1 successful episodes +[05/27 22:06:51 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses +[05/27 22:06:52 INFO pipeline.py:1496] Completed 116 houses, skipped 0 houses +[05/27 22:06:52 INFO pipeline.py:1499] Success count: 8, Total count: 120 +[05/27 22:06:52 INFO pipeline.py:1500] Success rate: 6.67% +Combined 120 episodes from 116 files → /tmp/tmpz4a64pon.h5 + +Saved → /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/results.csv at-end: 6.67% | oracle: 6.67% of 120 episodes +[2026-05-27 22:07:06,169] INFO MolmoSpaces simulator eval finished: success=8/120 rate=0.0667 output=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval +[2026-05-27 22:07:06,169] INFO Benchmark CSV: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/results.csv diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/eval_meta.json b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/eval_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4fcf626bdef22cb657a18c08bdadefa567c2306e --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/eval_meta.json @@ -0,0 +1,9 @@ +{ + "step": null, + "checkpoint_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt", + "benchmark_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00", + "policy_name": "latest", + "command": "#!/usr/bin/env bash\nset -euo pipefail\ncd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy\nconda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament", + "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815", + "csv_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/results.csv" +} diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/results.csv b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/results.csv new file mode 100644 index 0000000000000000000000000000000000000000..ac1102ff7bb225f77bf17759fadd15d2c9535d67 --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/results.csv @@ -0,0 +1,113 @@ +# policy_name: latest +# run_path: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815 +# dt: 0.066 +# max_steps: 450 +policy,category,successes,total,success_rate_pct,ci_95_low_pct,ci_95_high_pct,oracle_successes,oracle_rate_pct,oracle_ci_95_low_pct,oracle_ci_95_high_pct,jerk_joint_mean,jerk_joint_std +latest,Bowl,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,46.219413,0.0 +latest,Cookingpan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,17.47908,0.0 +latest,Knife,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,67.980586,0.0 +latest,Obja,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.912527,0.0 +latest,Objaammunition,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.277999,0.0 +latest,Objabellpepper,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.854887,0.0 +latest,Objabottleopener,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,54.614521,0.0 +latest,Objabowl,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,53.174936,0.0 +latest,Objacaduceus,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,15.683705,0.0 +latest,Objacalculatorradio,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,48.838615,0.0 +latest,Objacandle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,50.733737,0.0 +latest,Objacasing,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,38.402728,0.0 +latest,Objaceramicbowl,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,18.142245,0.0 +latest,Objacheese,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,15.424804,0.0 +latest,Objachesspiece,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,44.810601,19.353377 +latest,Objachocolate,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,27.919072,0.0 +latest,Objachocolatebar,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,61.071682,0.0 +latest,Objachocolatebunny,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.630897,0.0 +latest,Objaclamp,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,38.466805,26.538622 +latest,Objacylinderseal,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,45.401946,2.020686 +latest,Objadecorativebird,1,3,33.33,6.76,80.59,1,33.33,6.76,80.59,45.980729,13.061591 +latest,Objadecorativeblades,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.627746,0.0 +latest,Objadecorativebottle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.964137,0.0 +latest,Objadecorativecamera,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,55.39956,0.0 +latest,Objadecorativechain,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,53.218469,0.0 +latest,Objadecorativefixture,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,44.437515,0.0 +latest,Objadecorativehelmet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,74.488363,0.0 +latest,Objadecorativeinsect,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,73.838124,44.594848 +latest,Objadecorativenameplate,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.733677,0.0 +latest,Objadecorativepetal,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,53.066293,0.0 +latest,Objadecorativepiece,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,26.141637,0.0 +latest,Objadecorativerod,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,31.147745,0.0 +latest,Objadecorativescepter,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.416899,0.0 +latest,Objadecorativesign,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,42.986853,9.28702 +latest,Objadriedfish,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.651175,0.0 +latest,Objaelectricaltransformer,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,39.702666,0.0 +latest,Objaflask,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,52.780154,0.0 +latest,Objafoodpacket,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,53.519406,0.968604 +latest,Objagardenstake,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.385969,0.0 +latest,Objagimbalcamera,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,17.770689,0.0 +latest,Objagpsdevice,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,26.059234,0.0 +latest,Objagreetingcard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,96.552821,0.0 +latest,Objagrenade,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,99.009723,0.0 +latest,Objaguitareffectspedal,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.959346,0.0 +latest,Objahanddrill,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,14.668261,0.0 +latest,Objahandhelddevice,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,63.540213,0.0 +latest,Objahandle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,23.520973,0.0 +latest,Objahandmirror,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,50.471631,0.0 +latest,Objahangingpot,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.62725,0.0 +latest,Objahinge,1,2,50.0,9.43,90.57,1,50.0,9.43,90.57,83.924619,53.271144 +latest,Objahourglass,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.573134,0.0 +latest,Objainsect,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,267.882196,0.0 +latest,Objajewelrybox,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,160.917352,0.0 +latest,Objajuicer,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,59.22058,0.0 +latest,Objakeyholder,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,36.340989,0.0 +latest,Objakeypad,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,23.34343,11.956362 +latest,Objakitchenknife,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.858539,0.0 +latest,Objalinearrail,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,56.554712,0.0 +latest,Objamarbleslab,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,18.592743,0.0 +latest,Objamechanicalgauntlet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,48.016795,0.0 +latest,Objametalring,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,31.59923,0.0 +latest,Objamicrophone,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.116286,0.0 +latest,Objamilkcarton,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,51.40643,0.0 +latest,Objamolding,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,41.989303,0.0 +latest,Objamoth,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,19.388664,0.0 +latest,Objamug,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,38.479633,0.0 +latest,Objanightvisiongoggles,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,112.497882,0.0 +latest,Objanutcracker,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,58.229201,0.0 +latest,Objaopticaldevice,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,54.043604,0.0 +latest,Objapackage,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,51.196791,0.0 +latest,Objapaintbrush,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,195.591818,0.0 +latest,Objapillbottle,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,203.791763,153.022191 +latest,Objaplantpot,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.69721,0.0 +latest,Objaplayingcard,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,34.552917,0.0 +latest,Objapocketknife,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,51.450926,0.0 +latest,Objaportablemediaplayer,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,33.900666,0.0 +latest,Objaposter,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,147.57565,0.0 +latest,Objarailmount,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,108.238261,0.0 +latest,Objaremotecontrol,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,46.469439,0.0 +latest,Objaroller,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,34.569314,0.0 +latest,Objarubbermallet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,45.501954,0.0 +latest,Objasculpture,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,36.39125,0.0 +latest,Objashackle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,16.115131,0.0 +latest,Objashockabsorber,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,46.796724,0.0 +latest,Objasickle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.066719,0.0 +latest,Objasign,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.443405,0.0 +latest,Objasmartspeaker,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,48.125469,0.0 +latest,Objasmokegrenade,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,51.786711,0.0 +latest,Objasoupcan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,38.201698,0.0 +latest,Objaspike,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,63.362972,0.0 +latest,Objaspraycan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,60.109361,0.0 +latest,Objasqueegee,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,72.29069,0.0 +latest,Objastoneaxe,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,41.307944,0.0 +latest,Objastonedisc,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,68.669645,0.0 +latest,Objateapot,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,33.954963,0.0 +latest,Objatoiletpaperroll,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,41.051492,0.0 +latest,Objatomato,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,53.859374,0.0 +latest,Objatoystoragebox,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.930972,0.0 +latest,Objavhscassette,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.968658,0.0 +latest,Objavintageiron,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,63.15672,0.0 +latest,Objawallet,1,2,50.0,9.43,90.57,1,50.0,9.43,90.57,59.199216,8.729178 +latest,Objawallhook,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.953911,0.0 +latest,Objaweaponsight,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,44.62374,0.0 +latest,Objawristwatch,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.414778,0.0 +latest,Plate,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.761037,0.0 +latest,Soap Dispenser,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,16.864132,0.0 +latest,Spray Bottle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,48.88873,0.0 +latest,OVERALL,8,120,6.67,3.46,12.61,8,6.67,3.46,12.61,50.146649,46.510438 diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/summary.json b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..a9e00de61b97f1a0f11cdc67e8fcb8744a112b7f --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/summary.json @@ -0,0 +1,204 @@ +{ + "checkpoint_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt", + "benchmark_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00", + "benchmark_source": "arg", + "benchmark_mode": "official", + "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815", + "policy_name": "latest", + "policy_device": "cuda:0", + "camera_names": [ + "droid_shoulder_light_randomization", + "wrist_camera_zed_mini" + ], + "preview_camera_names": [ + "droid_shoulder_light_randomization", + "wrist_camera_zed_mini" + ], + "save_video_sensors": [ + "__none__" + ], + "obs_camera_name": "droid_shoulder_light_randomization", + "obs_wrist_camera_name": "wrist_camera_zed_mini", + "action_chunk_size": 8, + "end_on_success": true, + "num_workers": 1, + "task_horizon_steps": 450, + "max_episodes": null, + "episode_idx": null, + "resolved_episode_idx": null, + "random_episode": false, + "random_seed": 42, + "metrics_mean": { + "success_rate": 0.06666666666666667, + "success_count": 8.0, + "total_episodes": 120.0, + "avg_episode_length": 432.05, + "oracle_done_rate": 0.06666666666666667, + "success_rate_pct": 6.67, + "oracle_rate_pct": 6.67 + }, + "stats": { + "total_episodes": 120, + "success_count": 8, + "failure_count": 112, + "success_rate": 0.06666666666666667, + "avg_episode_length": 432.05, + "min_episode_length": 40, + "max_episode_length": 449, + "num_houses": 116, + "house_success_rates": { + "house_1058": 0.0, + "house_1180": 0.0, + "house_1260": 0.0, + "house_1332": 0.0, + "house_1399": 1.0, + "house_1536": 0.0, + "house_1640": 0.0, + "house_1732": 0.0, + "house_1781": 0.0, + "house_1912": 0.0, + "house_2024": 0.0, + "house_2090": 0.0, + "house_2200": 0.0, + "house_2306": 0.0, + "house_2433": 0.0, + "house_2482": 0.0, + 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"task_description": "Pick up the bottleopener and place it next to the pink classical draped relief", "object_name": "objabottleopener_c7783daa48a6466a9ac5f43e8f86db54_2_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3007/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3120", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green bullet and place it next to the bronze full-figured statue", "object_name": "objaammunition_ac0cb85fdde046fc96e11a80a224fe3f_1_0_6", "data_file_path": 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"Pick up the green nameplate and place it next to the blue spray bottle with nozzle", "object_name": "objadecorativenameplate_6ad8389d9e8d4d85ae6020f936381819_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3272/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3331", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the round dark hanging pot with kernels and place it next to the bowl", "object_name": "objahangingpot_079f67e3d21b4559a5ef90f538d130ab_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3331/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3400", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the circular stone disc with hole and place it next to the portable computer", "object_name": "objastonedisc_bb31ba58de6e457aa1251a63ede16de2_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3400/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3483", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 136, "task_description": "Pick up the white playing card with black skull and place it next to the rectangular dark gray tufted pillow", "object_name": "objaplayingcard_dbdcf0441e0e442b912c0b47703eb4fc_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3483/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3537", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the metal clamp holding dark stone and place it next to the dark glossy hardcover book", "object_name": "objaclamp_989a7a2db76a4ee08d924117f258e4eb_2_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3537/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3610", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the tall slender brown wooden bottle and place it next to the bronze full-figured statue", "object_name": "objadecorativebottle_7c356add4b0545759c69e94f6da537b7_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3610/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3610", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the small gray bird with orange beak and place it next to the medium smooth red apple", "object_name": "objadecorativebird_7914020e993b48ea8385579ee35b111c_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3610/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3656", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the glossy red tomato with stem and place it next to the gold vase", "object_name": "objatomato_01e9b3bcc92545f1a2fd713c11cbc4c9_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3656/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3748", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rectangular metallic effects pedal and place it next to the slideprojector", "object_name": "objaguitareffectspedal_8c6e5265f19b49709119c2628c2bdf3f_2_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3748/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3864", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the orange cylindrical medicine bottle with label and place it next to the soap bottle", "object_name": "objapillbottle_c570abc36b9a4fb1bf5b1aaf4c9c812f_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3864/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3956", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 328, "task_description": "Pick up the blue bifold wallet with brown interior and place it next to the blue vase", "object_name": "objawallet_284753c433144278b333b617615d6b3a_1_0_2", "data_file_path": 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"task_description": "Pick up the black pan and place it next to the transparent soap bottle", "object_name": "cookingpan_2042502e26c8e4aa7f1acb4af74ccc69_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4187/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4253", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the purple striped paper roll and place it next to the red glove", "object_name": "objatoiletpaperroll_afb1da51bd2046a2964742b53eb1b270_1_0_9", "data_file_path": 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"task_description": "Pick up the mechanical gauntlet and place it next to the blue glossy ceramic vase", "object_name": "objamechanicalgauntlet_46092034259442ec91346f202fb2393e_2_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4329/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4412", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the glossy green beetle figurine and place it next to the metallic blue laptop", "object_name": "objadecorativeinsect_3d87721214d44cc6986677a844c80499_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4412/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4481", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white marble wedge with markings and place it next to the mosaicfragment", "object_name": "objamarbleslab_7d540d7b25af4e41a58eaeb5037f88a9_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4481/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4481", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the purple snowman card and place it next to the blue metallic toaster with buttons", "object_name": "objagreetingcard_99d51751c64749d68d8da3903cb45194_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4481/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4502", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue milk carton with branding and place it next to the narwhal skull", "object_name": "objamilkcarton_aa9103c0122246f68dd367e640df32bb_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4502/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4631", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark gray keypad with numbers and place it next to the traditional wooden rubber stamp with metal", "object_name": "objakeypad_5ec36e995dd94222a1fd26b112b65cd2_2_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4631/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4684", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 430, "task_description": "Pick up the wooden house keyholder and place it next to the realistic pink gradient starfish model", "object_name": "objakeyholder_7e8733261a034ef5b0302f1ee2fe2554_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4684/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4728", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the smoothing iron and place it next to the handheld white and orange tape dispenser", "object_name": "objavintageiron_187871edbc5e40d8a75a4b654ce32146_1_0_2", "data_file_path": 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"Pick up the realistic yellow striped wasp and place it next to the rustic carved wooden block", "object_name": "objainsect_2a266405e9044b5495cf55b7298c757b_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4811/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4883", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue bifold wallet with brown interior and place it next to the glossy black dog statue sitting", "object_name": "objawallet_284753c433144278b333b617615d6b3a_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4883/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4981", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the device and place it next to the cream horseshoe neck pillow", "object_name": "objaopticaldevice_03c6cfba0c13448faef5a7149bf7be86_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4981/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_509", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the decorativebird and place it next to the light-colored paper origami crane with wings", "object_name": "objadecorativebird_0aac489fda0d4e91845b6623e64db21c_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_509/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5101", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the electricaltransformer and place it next to the smooth white ceramic serving bowl", "object_name": "objaelectricaltransformer_6f46f585edac4aeca9634f6ec1f6ead0_2_0_7", "data_file_path": 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"task_description": "Pick up the rustic ceramic bowl with patterns and place it next to the gold pump bottle", "object_name": "objaceramicbowl_66b7280abfa84ed3b5f1ae4d51dfd946_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6282/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6328", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray stake with red spherical top and place it next to the decorative star", "object_name": "objagardenstake_6c526bcea303477ba2cedb27c6c8af53_1_0_6", "data_file_path": 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{}} +{"house_id": "house_6548", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue handheld ergonomic 3d scanner and place it next to the crockery", "object_name": "obja3dscanner_35ce1f77245c4aeb903f6ec11634e83b_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6548/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6603", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the chain and place it next to the brown chihuahua", "object_name": "objadecorativechain_a3ce79a459cc4849868eb2ab508dbd80_1_0_9", "data_file_path": 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up the dark horse knight chess piece and place it next to the light gray wooden bowl", "object_name": "objachesspiece_d7e344aa00cc462586cede69e49613fd_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9423/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9502", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the intricate dark wooden molding with carvings and place it next to the large mottled bone vertebra", "object_name": "objamolding_0cec9637549f4355a4067cbf732f028f_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9502/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9588", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the triangular pink cheese wedge and place it next to the green apple", "object_name": "objacheese_b945c8c26cf540229510b7d9e65f98c7_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9588/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9651", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blocky wooden hourglass with sand and place it next to the slim blue phone device", "object_name": "objahourglass_e278f37f71ac4e2e980c6ef53899c2d7_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9651/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9727", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark stone cylindrical seal with carvings and place it next to the brown fish with large eyes", "object_name": "objacylinderseal_faa5a6851ee44affa0655094c13fd3b0_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9727/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9887", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the stoneaxe and place it next to the white hardcover academic book", "object_name": "objastoneaxe_11654de384f440d7ba70c71febdff3cc_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9887/trajectories_batch_1_of_1.h5", "metadata": {}} diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/submission/eval.log b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/submission/eval.log new file mode 100644 index 0000000000000000000000000000000000000000..3bf93701abe03b017e7990d6fddafb69bdce058d --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/submission/eval.log @@ -0,0 +1,3777 @@ +[2026-05-26 19:43:51,050] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath'] +[2026-05-26 19:43:51,051] INFO Using MuJoCo EGL device id: 0 +[2026-05-26 19:43:51,051] INFO Using pre-set MUJOCO_GL backend: egl +[2026-05-26 19:43:51,095] INFO Using MolmoSpaces benchmark: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 (source=arg) +[2026-05-26 19:43:53,191] INFO No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +[nltk_data] Downloading package wordnet to /home/yuanpei/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /home/yuanpei/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +[2026-05-26 19:44:03,964] INFO ResourceManager (R2RemoteStorage('https://pub-3555e9bb2d304fab9c6c79819e48aa40.r2.dev')) using: + symlink_dir=/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets + cache_dir=/home/yuanpei/.cache/molmo-spaces-resources + force_install=True +/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py:129: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +[2026-05-26 19:48:10,280] INFO Requested MolmoSpaces simulator cameras: ['droid_shoulder_light_randomization', 'wrist_camera_zed_mini'] +[2026-05-26 19:48:10,282] INFO Using save_video_sensors=['__none__'] +[2026-05-26 19:48:15,710] INFO Resolved MolmoSpaces action semantics from checkpoint: source=pnp_next_to_v2 type=molmo_raw arm_action_key=joint_pos_rel gripper_action_key=joint_pos action_type=joint_pos_rel arm_command_mode=joint_rel_position +[2026-05-26 19:48:15,756] INFO Using explicit task_horizon override: 450 steps +[05/26 19:48:16 INFO pipeline.py:677] WandB logging disabled (environment variables not set) +[2026-05-26 19:48:16,218] INFO JsonEvalRunner initialized: 116 houses, 120 episodes from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/26 19:48:16 INFO pipeline.py:1279] Starting house-by-house rollout of 116 houses with 2 episodes each (232 total episodes) using 1 worker processes +[05/26 19:48:16 INFO pipeline.py:1286] Evaluation configuration: +[05/26 19:48:16 INFO pipeline.py:1287] {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['droid_shoulder_light_randomization', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 'wan_molmobot_franka', + 'obs_camera_name': 'droid_shoulder_light_randomization', + 'obs_image_key': 'rgb_head', + 'obs_state_key': 'robot_state', + 'obs_wrist_camera_name': 'wrist_camera_zed_mini', + 'obs_wrist_image_key': 'rgb_wrist', + 'policy_cls': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [475, + 509, + 579, + 625, + 694, + 734, + 792, + 879, + 942, + 1058, + 1180, + 1260, + 1332, + 1399, + 1536, + 1640, + 1732, + 1781, + 1912, + 2024, + 2090, + 2200, + 2306, + 2433, + 2482, + 2597, + 2683, + 2824, + 2891, + 3007, + 3120, + 3216, + 3272, + 3331, + 3400, + 3483, + 3537, + 3610, + 3656, + 3748, + 3864, + 3956, + 4069, + 4187, + 4253, + 4293, + 4329, + 4412, + 4481, + 4502, + 4631, + 4684, + 4728, + 4811, + 4883, + 4981, + 5101, + 5180, + 5219, + 5408, + 5482, + 5568, + 5628, + 5699, + 5830, + 5905, + 5977, + 6079, + 6148, + 6227, + 6282, + 6328, + 6400, + 6514, + 6548, + 6603, + 6722, + 6792, + 6917, + 6987, + 7042, + 7101, + 7185, + 7304, + 7350, + 7420, + 7475, + 7576, + 7676, + 7777, + 7868, + 7980, + 8081, + 8141, + 8232, + 8312, + 8389, + 8460, + 8542, + 8648, + 8725, + 8833, + 8884, + 8972, + 9024, + 9092, + 9163, + 9187, + 9252, + 9320, + 9423, + 9502, + 9588, + 9651, + 9727, + 9887], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} +[2026-05-26 19:48:16,222] INFO Saved experiment configuration to /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815 +[05/26 19:48:16 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler +[05/26 19:48:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/26 19:48:16 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler +[05/26 19:48:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 475 (index 0/116) +[05/26 19:48:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 475 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/26 19:48:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +Goal: place black rail with holes and arms next to smooth red apple +2026-05-26 19:48:36.636 | INFO | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0 +[2026-05-26 19:48:37,683] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k) +[2026-05-26 19:48:39,127] INFO [timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k] Safe alternative available for 'pytorch_model.bin' (as 'model.safetensors'). Loading weights using safetensors. +[2026-05-26 19:48:39,697] INFO Number of parameters in DiT: 1.821428e+07 +[2026-05-26 19:48:39,901] INFO Loaded generic psi-policy checkpoint | target=psi_policy.policy.psi_policy.PsiPolicy | obs_keys=['rgb_head', 'rgb_wrist', 'robot_state', 'text_context'] | action_horizon=16 | action_dim=8 +[2026-05-26 19:48:39,904] INFO Loaded MolmoSpaces policy | checkpoint=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt | target=psi_policy.policy.psi_policy.PsiPolicy | device=cuda:0 | action_chunk_size=8 +[05/26 19:48:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 20:04:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 475 episode 0 object objalinearrail_d10e54ab85304e31b12d98852fa3e165_1_0_2 completed with success=False +[05/26 20:04:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_475: 1 episodes +[05/26 20:04:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:04:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:04:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_475 +[05/26 20:04:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_475 in 2.64s (batch: 2.56s, save: 0.09s) +[05/26 20:04:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_475 +[05/26 20:04:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 475: 0/1 successful episodes +[05/26 20:04:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 509 (index 1/116) +[05/26 20:04:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 509 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/26 20:04:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/17 [00:00 does not support tracking retries. +Goal: place decorativebird next to light-colored paper origami crane with wings +[2026-05-26 20:05:45,515] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/huggingface_hub/file_download.py:945: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`. + warnings.warn( +[05/26 20:12:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 509 episode 0 object objadecorativebird_0aac489fda0d4e91845b6623e64db21c_1_0_3 completed with success=False +[05/26 20:12:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_509: 1 episodes +[05/26 20:12:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:12:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:12:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_509 +[05/26 20:12:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_509 in 2.67s (batch: 2.58s, save: 0.09s) +[05/26 20:12:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_509 +[05/26 20:12:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 509: 0/1 successful episodes +[05/26 20:12:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 579 (index 2/116) +[05/26 20:12:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 579 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/26 20:12:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +[05/26 20:13:04 Worker 0 WARNING object_manager.py:1238] Could not find object objacleaningsponge_97aee64edf0c4521b82416f3b30c61ce_1_0_5 in scene +Goal: place aerosol next to blue staple gun +[2026-05-26 20:14:06,947] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 20:27:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 579 episode 0 object objaspraycan_b31ed30e335c435fb7b7b4a6a046721d_1_0_5 completed with success=False +[05/26 20:27:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_579: 1 episodes +[05/26 20:27:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:27:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:27:54 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_579 +[05/26 20:27:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_579 in 2.46s (batch: 2.37s, save: 0.09s) +[05/26 20:27:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_579 +[05/26 20:27:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 579: 0/1 successful episodes +[05/26 20:27:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 625 (index 3/116) +[05/26 20:27:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 625 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/26 20:27:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[05/26 20:28:15 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +[05/26 20:28:15 Worker 0 WARNING object_manager.py:1238] Could not find object objafabric_311791deb3864ade81c803d19731c522_1_0_5 in scene +[05/26 20:28:15 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_973bce9435d852757b03afc168e4c1df_1_0_5 in scene +Goal: place wide rustic terracotta bowl speckled next to blue soap bottle with orange pump +[2026-05-26 20:29:12,514] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 20:29:42 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 20:30:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 625 episode 0 object objabowl_72f752cce53e4942be8e27429ceaf83a_1_0_8 completed with success=True +[05/26 20:30:58 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_625: 1 episodes +[05/26 20:30:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 43 timesteps +[05/26 20:31:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:31:00 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_625 +[05/26 20:31:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_625 in 2.17s (batch: 2.14s, save: 0.03s) +[05/26 20:31:01 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_625 +[05/26 20:31:01 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 625: 1/1 successful episodes +[05/26 20:31:01 Worker 0 INFO pipeline.py:473] Worker 0 starting house 694 (index 4/116) +[05/26 20:31:01 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 694 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/26 20:31:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +[05/26 20:31:27 Worker 0 WARNING object_manager.py:1238] Could not find object objadressshoe_08158fa3333a4b288bd2746a6ba6f9e5_1_0_5 in scene +[05/26 20:31:27 Worker 0 WARNING object_manager.py:1238] Could not find object objalantern_9d65ca34fa3d432b9372c9cdb60a9a00_1_0_5 in scene +[05/26 20:31:27 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_5 in scene +Goal: place tall golden spike with base next to gray hardcover book +[2026-05-26 20:32:24,569] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 20:48:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 694 episode 0 object objaspike_71a4c3e4590e4a0ab4967b9f957ebaf5_1_0_6 completed with success=False +[05/26 20:48:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_694: 1 episodes +[05/26 20:48:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:48:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:48:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_694 +[05/26 20:48:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_694 in 2.67s (batch: 2.59s, save: 0.09s) +[05/26 20:48:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_694 +[05/26 20:48:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 694: 0/1 successful episodes +[05/26 20:48:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 734 (index 5/116) +[05/26 20:48:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 734 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/26 20:48:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +Goal: place black cleaning squeegee next to blue porous cleaning sponge +[2026-05-26 20:49:52,775] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:10:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 734 episode 0 object objasqueegee_7003b80d192b4515bab588a29bcd86d3_1_0_5 completed with success=False +[05/26 21:10:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_734: 1 episodes +[05/26 21:10:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:10:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:10:12 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_734 +[05/26 21:10:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_734 in 2.74s (batch: 2.65s, save: 0.09s) +[05/26 21:10:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_734 +[05/26 21:10:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 734: 0/1 successful episodes +[05/26 21:10:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 792 (index 6/116) +[05/26 21:10:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 792 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/26 21:10:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +[05/26 21:10:51 Worker 0 WARNING object_manager.py:1238] Could not find object objafaceplate_521c117e4216443f9cb116f01483a230_1_0_5 in scene +[05/26 21:10:51 Worker 0 WARNING object_manager.py:1238] Could not find object objaemblem_4d12203206054668bbdb47f0cc56f133_1_0_5 in scene +[05/26 21:10:51 Worker 0 WARNING object_manager.py:1238] Could not find object objawoodenplank_dc77fe25b17e4f89ae7b048e1a3656fe_1_0_8 in scene +Goal: place metal clamp with threaded rod and bolt next to red book +[2026-05-26 21:11:50,716] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:12:20 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 21:27:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 792 episode 0 object objaclamp_9772a68d88194ba9a5f73e3a317536bd_1_0_6 completed with success=False +[05/26 21:27:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_792: 1 episodes +[05/26 21:27:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:27:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:27:57 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_792 +[05/26 21:27:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_792 in 2.72s (batch: 2.63s, save: 0.09s) +[05/26 21:27:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_792 +[05/26 21:27:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 792: 0/1 successful episodes +[05/26 21:27:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 879 (index 7/116) +[05/26 21:27:57 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 879 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/26 21:27:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +Goal: place flat, elongated handle with hole next to fresh spherical green lettuce +[2026-05-26 21:29:16,096] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:29:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 21:36:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 879 episode 0 object objahandle_a168ec0564fb4a1e98caadee6866be28_1_0_2 completed with success=False +[05/26 21:36:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_879: 1 episodes +[05/26 21:36:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:36:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:36:41 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_879 +[05/26 21:36:41 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_879 in 2.67s (batch: 2.58s, save: 0.09s) +[05/26 21:36:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_879 +[05/26 21:36:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 879: 0/1 successful episodes +[05/26 21:36:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 942 (index 8/116) +[05/26 21:36:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 942 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/26 21:36:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +[05/26 21:36:52 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +Goal: place digital watch next to black radio control transmitter +[2026-05-26 21:37:55,142] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:38:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 21:51:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 942 episode 0 object objawristwatch_63e67b020cd349e89c3a506a513c1108_2_0_9 completed with success=False +[05/26 21:51:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_942: 1 episodes +[05/26 21:51:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:52:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:52:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_942 +[05/26 21:52:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_942 in 2.76s (batch: 2.67s, save: 0.09s) +[05/26 21:52:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_942 +[05/26 21:52:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 942: 0/1 successful episodes +[05/26 21:52:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1058 (index 9/116) +[05/26 21:52:03 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1058 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/26 21:52:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +Goal: place lepidopteran next to brown rectangular bread +[2026-05-26 21:53:10,984] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:53:47 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 22:07:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 1058 episode 0 object objamoth_c776c4a1d0a447388a8808dab3817af9_1_0_2 completed with success=False +[05/26 22:07:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1058: 1 episodes +[05/26 22:07:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:07:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:07:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1058 +[05/26 22:07:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1058 in 2.45s (batch: 2.36s, save: 0.09s) +[05/26 22:07:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1058 +[05/26 22:07:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1058: 0/1 successful episodes +[05/26 22:07:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1180 (index 10/116) +[05/26 22:07:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1180 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/26 22:07:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +Goal: place dark floral mug next to transparent tall wine glass +[2026-05-26 22:09:09,142] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:09:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 22:19:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 1180 episode 0 object objamug_a30aab65d235438bbfc6699faaea762d_1_0_6 completed with success=False +[05/26 22:19:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1180: 1 episodes +[05/26 22:19:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:19:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:19:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1180 +[05/26 22:19:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1180 in 2.70s (batch: 2.61s, save: 0.09s) +[05/26 22:19:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1180 +[05/26 22:19:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1180: 0/1 successful episodes +[05/26 22:19:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1260 (index 11/116) +[05/26 22:19:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1260 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/26 22:19:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +Goal: place loudspeaker next to teal hardcover book with colorful spine +[2026-05-26 22:20:37,640] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:21:14 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 22:31:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 1260 episode 0 object objasmartspeaker_0e9d0a055dde4d83b7fd53d8b7465916_1_0_4 completed with success=False +[05/26 22:31:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1260: 1 episodes +[05/26 22:31:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:31:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:31:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1260 +[05/26 22:31:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1260 in 2.35s (batch: 2.27s, save: 0.09s) +[05/26 22:31:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1260 +[05/26 22:31:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1260: 0/1 successful episodes +[05/26 22:31:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1332 (index 12/116) +[05/26 22:31:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1332 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/26 22:31:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +[05/26 22:32:15 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +Goal: place yellow handled polished kitchen knife next to rectangular dark non-stick frying pan +[2026-05-26 22:33:19,216] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:44:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 1332 episode 0 object knife_8409451f726b7f0640a91ddd7ae630cf_1_0_6 completed with success=False +[05/26 22:44:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1332: 1 episodes +[05/26 22:44:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:44:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:44:29 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1332 +[05/26 22:44:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1332 in 2.49s (batch: 2.40s, save: 0.09s) +[05/26 22:44:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1332 +[05/26 22:44:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1332: 0/1 successful episodes +[05/26 22:44:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1399 (index 13/116) +[05/26 22:44:29 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1399 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/26 22:44:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/26 22:44:35 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_9 in scene +Goal: place compact holographic weapon sight next to rectangular pillow with earthy stripes +[2026-05-26 22:45:35,446] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:57:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 1399 episode 0 object objaweaponsight_a7323938c943423a8a7adb8656b0168f_1_0_6 completed with success=True +[05/26 22:57:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1399: 1 episodes +[05/26 22:57:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 321 timesteps +[05/26 22:57:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:57:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1399 +[05/26 22:57:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1399 in 2.62s (batch: 2.56s, save: 0.07s) +[05/26 22:57:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1399 +[05/26 22:57:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1399: 1/1 successful episodes +[05/26 22:57:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1536 (index 14/116) +[05/26 22:57:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1536 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/26 22:57:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +Goal: place gold foil chocolate bunny next to dark glossy hardcover book with gold +[2026-05-26 22:58:43,816] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:59:16 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 23:08:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 1536 episode 0 object objachocolatebunny_3fd78d69b770429a8a680caaa65e57e8_1_0_6 completed with success=False +[05/26 23:08:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1536: 1 episodes +[05/26 23:08:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:08:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:08:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1536 +[05/26 23:08:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1536 in 2.38s (batch: 2.27s, save: 0.10s) +[05/26 23:08:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1536 +[05/26 23:08:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1536: 0/1 successful episodes +[05/26 23:08:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1640 (index 15/116) +[05/26 23:08:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1640 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/26 23:08:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +[05/26 23:08:48 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativemold_148f80486ea04f9a873fb212e98f87ae_1_0_3 in scene +[05/26 23:08:48 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeemblem_dc44a9d16aaa4b61addce2a8480f54f6_1_0_3 in scene +Goal: place tall yellow poster with woman next to soapdispenser +[2026-05-26 23:09:50,873] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:20:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 1640 episode 0 object objaposter_f15988d0eb0a4d309738ffc5bbd3ba4d_1_0_2 completed with success=False +[05/26 23:20:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1640: 1 episodes +[05/26 23:20:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:20:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:20:28 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1640 +[05/26 23:20:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1640 in 2.65s (batch: 2.56s, save: 0.09s) +[05/26 23:20:28 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1640 +[05/26 23:20:28 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1640: 0/1 successful episodes +[05/26 23:20:28 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1732 (index 16/116) +[05/26 23:20:28 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1732 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/26 23:20:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +Goal: place black folding knife with accent next to translucent ergonomic spray bottle +[2026-05-26 23:21:35,212] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:22:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 23:31:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 1732 episode 0 object objapocketknife_a794889d68654206b0ab9f81a07f3ed0_1_0_6 completed with success=False +[05/26 23:31:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1732: 1 episodes +[05/26 23:31:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:31:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:31:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1732 +[05/26 23:31:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1732 in 2.73s (batch: 2.65s, save: 0.09s) +[05/26 23:31:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1732 +[05/26 23:31:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1732: 0/1 successful episodes +[05/26 23:31:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1781 (index 17/116) +[05/26 23:31:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1781 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/26 23:31:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +Goal: place pill bottle next to golden star badge +[2026-05-26 23:33:04,342] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:33:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 23:41:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 1781 episode 0 object objapillbottle_c570abc36b9a4fb1bf5b1aaf4c9c812f_1_0_6 completed with success=False +[05/26 23:41:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1781: 1 episodes +[05/26 23:41:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:41:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:41:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1781 +[05/26 23:41:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1781 in 2.66s (batch: 2.57s, save: 0.09s) +[05/26 23:41:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1781 +[05/26 23:41:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1781: 0/1 successful episodes +[05/26 23:41:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1912 (index 18/116) +[05/26 23:41:57 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1912 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/26 23:41:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +Goal: place red tdk vhs tape next to soap bottle +[2026-05-26 23:43:06,797] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:43:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 23:58:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 1912 episode 0 object objavhscassette_85ea6fb195194b85816ed76bb10edfca_1_0_8 completed with success=False +[05/26 23:58:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1912: 1 episodes +[05/26 23:58:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:58:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:58:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1912 +[05/26 23:58:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1912 in 2.40s (batch: 2.31s, save: 0.09s) +[05/26 23:58:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1912 +[05/26 23:58:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1912: 0/1 successful episodes +[05/26 23:58:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2024 (index 19/116) +[05/26 23:58:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2024 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/26 23:58:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +Goal: place red jewelry box with mirror next to plant life +[2026-05-27 00:03:42,917] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:04:20 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:12:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 2024 episode 0 object objajewelrybox_05624f21a8684474b641ab7865d5c3b0_1_0_2 completed with success=False +[05/27 00:12:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2024: 1 episodes +[05/27 00:12:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:12:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:12:45 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2024 +[05/27 00:12:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2024 in 2.45s (batch: 2.36s, save: 0.09s) +[05/27 00:12:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2024 +[05/27 00:12:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2024: 0/1 successful episodes +[05/27 00:12:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2090 (index 20/116) +[05/27 00:12:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2090 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 00:12:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +[05/27 00:12:49 Worker 0 WARNING object_manager.py:1238] Could not find object objaopticaldevice_7ed2098a406244aebfad75b9d2e6827b_1_0_7 in scene +[05/27 00:12:49 Worker 0 WARNING object_manager.py:1238] Could not find object bowl_0edf7e6cf6327a9271981c502739c394_1_0_7 in scene +Goal: place sleek metallic juicer with three legs next to olive scalloped ceramic plate +[2026-05-27 00:13:51,126] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:14:25 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:24:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 2090 episode 0 object objajuicer_781344ece32d4692affe82c5474c0b75_1_0_6 completed with success=False +[05/27 00:24:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2090: 1 episodes +[05/27 00:24:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:24:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:24:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2090 +[05/27 00:24:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2090 in 2.68s (batch: 2.58s, save: 0.10s) +[05/27 00:24:42 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2090 +[05/27 00:24:42 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2090: 0/1 successful episodes +[05/27 00:24:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2200 (index 21/116) +[05/27 00:24:42 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2200 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 00:24:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/32 [00:00 does not support tracking retries. +[05/27 00:24:46 Worker 0 WARNING object_manager.py:1238] Could not find object objasawhorse_b9f06d829ca7429baeba040c915d0ffb_1_0_4 in scene +Goal: place heavy-duty metal shackle next to octagonal translucent soap bottle +[2026-05-27 00:25:49,061] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:26:25 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:27:53 Worker 0 INFO pipeline.py:1114] Worker 0 house 2200 episode 0 object objashackle_f04582e626ee4b09b5b870a2730d12b7_1_0_6 completed with success=False +[05/27 00:27:56 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2200: 1 episodes +[05/27 00:27:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:27:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:27:59 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2200 +[05/27 00:27:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2200 in 2.45s (batch: 2.36s, save: 0.09s) +[05/27 00:27:59 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2200 +[05/27 00:27:59 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2200: 0/1 successful episodes +[05/27 00:27:59 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2306 (index 22/116) +[05/27 00:27:59 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2306 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 00:27:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +[05/27 00:28:18 Worker 0 WARNING object_manager.py:1238] Could not find object objasneaker_75c97069e89c4d84ab36922b77a97678_1_0_5 in scene +[05/27 00:28:18 Worker 0 WARNING object_manager.py:1238] Could not find object objasandal_48b073d405e5472d9fd7e0dbe45c973e_1_0_5 in scene +Goal: place golden caduceus with serpents and wings next to white square bowl +[2026-05-27 00:29:19,723] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:29:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:44:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 2306 episode 0 object objacaduceus_93f79bd813a444a6942c7ab8259977ec_1_0_2 completed with success=False +[05/27 00:44:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2306: 1 episodes +[05/27 00:44:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:44:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:44:47 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2306 +[05/27 00:44:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2306 in 2.85s (batch: 2.76s, save: 0.09s) +[05/27 00:44:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2306 +[05/27 00:44:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2306: 0/1 successful episodes +[05/27 00:44:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2433 (index 23/116) +[05/27 00:44:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2433 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 00:44:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +[05/27 00:44:49 Worker 0 WARNING object_manager.py:1238] Could not find object egg_90ac4704a427669f3e6c8af344d2d0d3_1_0_2 in scene +Goal: place blue blades next to square blue plate +[2026-05-27 00:45:53,509] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:46:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:53:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 2433 episode 0 object objadecorativeblades_49da7278b073450686dec40d5d61f8ef_1_0_2 completed with success=False +[05/27 00:53:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2433: 1 episodes +[05/27 00:53:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:53:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:53:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2433 +[05/27 00:53:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2433 in 2.42s (batch: 2.33s, save: 0.09s) +[05/27 00:53:42 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2433 +[05/27 00:53:42 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2433: 0/1 successful episodes +[05/27 00:53:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2482 (index 24/116) +[05/27 00:53:42 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2482 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 00:53:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/27 00:55:56 Worker 0 WARNING object_manager.py:1238] Could not find object statue_82f73072d5461ff460bb390c3adf02fa_1_0_3 in scene +Goal: place street sign next to sleek slim dark phone with camera +[2026-05-27 00:56:59,796] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:15:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 2482 episode 0 object objasign_f7f6faf55fda4fbc9d4b2558375b0378_1_0_4 completed with success=False +[05/27 01:15:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2482: 1 episodes +[05/27 01:15:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:16:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:16:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2482 +[05/27 01:16:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2482 in 2.69s (batch: 2.60s, save: 0.09s) +[05/27 01:16:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2482 +[05/27 01:16:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2482: 0/1 successful episodes +[05/27 01:16:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2597 (index 25/116) +[05/27 01:16:03 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2597 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 01:16:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/17 [00:00 does not support tracking retries. +Goal: place sleek ipod with screen and wheel next to colorful dodecahedron with text +[2026-05-27 01:17:07,648] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:24:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 2597 episode 0 object objaportablemediaplayer_70b4a6925971425da94b833813099beb_1_0_3 completed with success=False +[05/27 01:24:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2597: 1 episodes +[05/27 01:24:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:24:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:24:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2597 +[05/27 01:24:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2597 in 2.67s (batch: 2.57s, save: 0.09s) +[05/27 01:24:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2597 +[05/27 01:24:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2597: 0/1 successful episodes +[05/27 01:24:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2683 (index 26/116) +[05/27 01:24:35 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2683 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 01:24:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +Goal: place teal vintage handheld camera next to yellow handled polished kitchen knife +[2026-05-27 01:25:45,367] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:26:20 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 01:37:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 2683 episode 0 object objadecorativecamera_ab399345c2cb477f85087554b280432c_1_0_2 completed with success=False +[05/27 01:38:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2683: 1 episodes +[05/27 01:38:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:38:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:38:03 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2683 +[05/27 01:38:03 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2683 in 2.82s (batch: 2.73s, save: 0.09s) +[05/27 01:38:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2683 +[05/27 01:38:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2683: 0/1 successful episodes +[05/27 01:38:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2824 (index 27/116) +[05/27 01:38:04 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2824 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 01:38:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/14 [00:00 does not support tracking retries. +Goal: place octagonal silver plate next to steel pot +[2026-05-27 01:40:08,935] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:40:42 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 01:49:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 2824 episode 0 object plate_c15e3f7680e3167e2f8d34f3a4bbadaf_1_0_2 completed with success=False +[05/27 01:49:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2824: 1 episodes +[05/27 01:49:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:49:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:49:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2824 +[05/27 01:49:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2824 in 2.40s (batch: 2.30s, save: 0.09s) +[05/27 01:49:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2824 +[05/27 01:49:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2824: 0/1 successful episodes +[05/27 01:49:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2891 (index 28/116) +[05/27 01:49:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2891 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 01:49:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +[05/27 01:49:22 Worker 0 WARNING object_manager.py:1238] Could not find object objafacemask_061da4f589f1477692d5d06b8812d518_1_0_5 in scene +[05/27 01:49:22 Worker 0 WARNING object_manager.py:1238] Could not find object objalightswitchcoverplate_8f601aff31c8480db54a5fe7c85b34c2_1_0_5 in scene +[05/27 01:49:22 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene +[05/27 01:49:22 Worker 0 WARNING object_manager.py:1238] Could not find object objamodelmissile_1be9ec86a68d4657920fec178be1626c_1_0_7 in scene +[05/27 01:49:22 Worker 0 WARNING object_manager.py:1238] Could not find object plate_078f7b7772accf1f6c4a960a7e5bdde0_1_0_7 in scene +Goal: place black modern microphone next to ornate gray crown with lettering +[2026-05-27 01:50:25,209] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:51:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 02:01:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 2891 episode 0 object objamicrophone_343edd0babf743ba9fd43f99182d998d_1_0_7 completed with success=False +[05/27 02:01:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2891: 1 episodes +[05/27 02:01:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:01:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:01:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2891 +[05/27 02:01:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2891 in 2.45s (batch: 2.36s, save: 0.09s) +[05/27 02:01:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2891 +[05/27 02:01:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2891: 0/1 successful episodes +[05/27 02:01:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3007 (index 29/116) +[05/27 02:01:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3007 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 02:01:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[05/27 02:02:56 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeplatform_fb3121509a5143ff852c6f8f2d59f37e_1_0_5 in scene +[05/27 02:02:56 Worker 0 WARNING object_manager.py:1238] Could not find object objaexternaldvddrive_d9b63231980e4719aca47048767062af_1_0_5 in scene +Goal: place bottleopener next to pink classical draped relief +[2026-05-27 02:04:01,103] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:19:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 3007 episode 0 object objabottleopener_c7783daa48a6466a9ac5f43e8f86db54_2_0_4 completed with success=False +[05/27 02:19:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3007: 1 episodes +[05/27 02:19:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:19:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:19:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3007 +[05/27 02:19:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3007 in 2.66s (batch: 2.57s, save: 0.09s) +[05/27 02:19:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3007 +[05/27 02:19:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3007: 0/1 successful episodes +[05/27 02:19:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3120 (index 30/116) +[05/27 02:19:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3120 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 02:19:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/25 [00:00 does not support tracking retries. +Goal: place green bullet next to bronze full-figured statue +[2026-05-27 02:21:03,021] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:21:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 02:31:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 3120 episode 0 object objaammunition_ac0cb85fdde046fc96e11a80a224fe3f_1_0_6 completed with success=False +[05/27 02:31:58 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3120: 1 episodes +[05/27 02:31:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:32:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:32:00 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3120 +[05/27 02:32:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3120 in 2.67s (batch: 2.58s, save: 0.09s) +[05/27 02:32:01 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3120 +[05/27 02:32:01 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3120: 0/1 successful episodes +[05/27 02:32:01 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3216 (index 31/116) +[05/27 02:32:01 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3216 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 02:32:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +[05/27 02:32:05 Worker 0 WARNING object_manager.py:1238] Could not find object pencil_2c624e64d6f8a208a3a089ad77d16aa1_1_0_9 in scene +Goal: place piece next to vintage radio with wooden exterior +[2026-05-27 02:33:07,451] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:33:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 02:44:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 3216 episode 0 object objadecorativepiece_1eaddffbb80f408992ee3ade39ff9b5d_1_0_8 completed with success=False +[05/27 02:44:46 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3216: 1 episodes +[05/27 02:44:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:44:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:44:49 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3216 +[05/27 02:44:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3216 in 2.42s (batch: 2.33s, save: 0.09s) +[05/27 02:44:49 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3216 +[05/27 02:44:49 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3216: 0/1 successful episodes +[05/27 02:44:49 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3272 (index 32/116) +[05/27 02:44:49 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3272 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 02:44:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/44 [00:00 does not support tracking retries. +Goal: place green nameplate next to blue spray bottle with nozzle +[2026-05-27 02:45:59,397] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:46:32 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 02:48:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 3272 episode 0 object objadecorativenameplate_6ad8389d9e8d4d85ae6020f936381819_1_0_8 completed with success=False +[05/27 02:48:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3272: 1 episodes +[05/27 02:48:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:48:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:48:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3272 +[05/27 02:48:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3272 in 2.66s (batch: 2.58s, save: 0.09s) +[05/27 02:48:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3272 +[05/27 02:48:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3272: 0/1 successful episodes +[05/27 02:48:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3331 (index 33/116) +[05/27 02:48:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3331 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 02:48:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +Goal: place round dark hanging pot with kernels next to bowl +[2026-05-27 02:49:39,423] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:50:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 03:12:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 3331 episode 0 object objahangingpot_079f67e3d21b4559a5ef90f538d130ab_1_0_2 completed with success=False +[05/27 03:12:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3331: 1 episodes +[05/27 03:12:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:12:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:12:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3331 +[05/27 03:12:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3331 in 2.42s (batch: 2.33s, save: 0.09s) +[05/27 03:12:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3331 +[05/27 03:12:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3331: 0/1 successful episodes +[05/27 03:12:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3400 (index 34/116) +[05/27 03:12:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3400 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 03:12:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/27 [00:00 does not support tracking retries. +Goal: place circular stone disc with hole next to portable computer +[2026-05-27 03:13:19,261] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:25:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 3400 episode 0 object objastonedisc_bb31ba58de6e457aa1251a63ede16de2_1_0_7 completed with success=False +[05/27 03:25:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3400: 1 episodes +[05/27 03:25:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:25:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:25:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3400 +[05/27 03:25:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3400 in 2.78s (batch: 2.69s, save: 0.09s) +[05/27 03:25:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3400 +[05/27 03:25:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3400: 0/1 successful episodes +[05/27 03:25:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3483 (index 35/116) +[05/27 03:25:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3483 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 03:25:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 does not support tracking retries. +[05/27 03:25:30 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_2 in scene +Goal: place white playing card with black skull next to rectangular dark gray tufted pillow +[2026-05-27 03:26:33,430] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:31:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 3483 episode 0 object objaplayingcard_dbdcf0441e0e442b912c0b47703eb4fc_1_0_4 completed with success=True +[05/27 03:31:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3483: 1 episodes +[05/27 03:31:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 138 timesteps +[05/27 03:31:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:31:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3483 +[05/27 03:31:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3483 in 2.19s (batch: 2.14s, save: 0.05s) +[05/27 03:31:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3483 +[05/27 03:31:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3483: 1/1 successful episodes +[05/27 03:31:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3537 (index 36/116) +[05/27 03:31:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3537 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 03:31:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/18 [00:00 does not support tracking retries. +[05/27 03:31:37 Worker 0 WARNING object_manager.py:1238] Could not find object objawebcam_c5f7acd4d05842b0a604d37b3716be17_1_0_7 in scene +Goal: place metal clamp holding dark stone next to dark glossy hardcover book +[2026-05-27 03:32:40,421] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:33:13 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 03:42:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 3537 episode 0 object objaclamp_989a7a2db76a4ee08d924117f258e4eb_2_0_2 completed with success=False +[05/27 03:42:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3537: 1 episodes +[05/27 03:42:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:42:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:42:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3537 +[05/27 03:42:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3537 in 2.74s (batch: 2.65s, save: 0.09s) +[05/27 03:42:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3537 +[05/27 03:42:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3537: 0/1 successful episodes +[05/27 03:42:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3610 (index 37/116) +[05/27 03:42:31 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 3610 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 03:42:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +Goal: place tall slender brown wooden bottle next to bronze full-figured statue +[2026-05-27 03:43:37,445] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:44:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 03:55:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 3610 episode 0 object objadecorativebottle_7c356add4b0545759c69e94f6da537b7_1_0_2 completed with success=False +[05/27 03:55:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +Goal: place small gray bird with orange beak next to medium smooth red apple +[2026-05-27 03:56:19,034] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:56:54 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:08:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 3610 episode 1 object objadecorativebird_7914020e993b48ea8385579ee35b111c_1_0_2 completed with success=False +[05/27 04:08:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3610: 2 episodes +[05/27 04:08:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:08:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:08:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:08:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:08:12 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3610 +[05/27 04:08:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3610 in 5.04s (batch: 4.86s, save: 0.18s) +[05/27 04:08:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3610 +[05/27 04:08:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3610: 0/2 successful episodes +[05/27 04:08:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3656 (index 38/116) +[05/27 04:08:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3656 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 04:08:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +Goal: place glossy red tomato with stem next to gold vase +[2026-05-27 04:09:20,963] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:09:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:24:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 3656 episode 0 object objatomato_01e9b3bcc92545f1a2fd713c11cbc4c9_1_0_2 completed with success=False +[05/27 04:24:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3656: 1 episodes +[05/27 04:24:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:24:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:24:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3656 +[05/27 04:24:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3656 in 2.70s (batch: 2.61s, save: 0.09s) +[05/27 04:24:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3656 +[05/27 04:24:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3656: 0/1 successful episodes +[05/27 04:24:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3748 (index 39/116) +[05/27 04:24:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3748 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 04:24:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +Goal: place rectangular metallic effects pedal next to slideprojector +[2026-05-27 04:25:23,720] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:26:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:38:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 3748 episode 0 object objaguitareffectspedal_8c6e5265f19b49709119c2628c2bdf3f_2_0_3 completed with success=False +[05/27 04:38:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3748: 1 episodes +[05/27 04:38:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:38:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:38:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3748 +[05/27 04:38:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3748 in 2.41s (batch: 2.32s, save: 0.09s) +[05/27 04:38:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3748 +[05/27 04:38:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3748: 0/1 successful episodes +[05/27 04:38:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3864 (index 40/116) +[05/27 04:38:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3864 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 04:38:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +Goal: place orange cylindrical medicine bottle with label next to soap bottle +[2026-05-27 04:39:24,690] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:39:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:52:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 3864 episode 0 object objapillbottle_c570abc36b9a4fb1bf5b1aaf4c9c812f_1_0_2 completed with success=False +[05/27 04:52:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3864: 1 episodes +[05/27 04:52:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:52:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:52:15 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3864 +[05/27 04:52:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3864 in 2.48s (batch: 2.38s, save: 0.10s) +[05/27 04:52:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3864 +[05/27 04:52:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3864: 0/1 successful episodes +[05/27 04:52:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3956 (index 41/116) +[05/27 04:52:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3956 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 04:52:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +Goal: place blue bifold wallet with brown interior next to blue vase +[2026-05-27 04:53:23,205] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:53:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:59:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 3956 episode 0 object objawallet_284753c433144278b333b617615d6b3a_1_0_2 completed with success=True +[05/27 04:59:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3956: 1 episodes +[05/27 04:59:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 330 timesteps +[05/27 04:59:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:59:43 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3956 +[05/27 04:59:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3956 in 2.66s (batch: 2.59s, save: 0.07s) +[05/27 04:59:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3956 +[05/27 04:59:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3956: 1/1 successful episodes +[05/27 04:59:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4069 (index 42/116) +[05/27 04:59:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4069 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 04:59:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/58 [00:00 does not support tracking retries. +[05/27 05:00:02 Worker 0 WARNING object_manager.py:1238] Could not find object lettuce_a1e5e7e9a0fd5721b75dc053d43ae3cd_1_0_2 in scene +[05/27 05:00:02 Worker 0 WARNING object_manager.py:1238] Could not find object objajewelrydisplay_cb763a3de6e64365955841346d95891c_1_0_5 in scene +[05/27 05:00:02 Worker 0 WARNING object_manager.py:1238] Could not find object objamedicalmask_b52524319c70458db1c3a78f9c096afe_1_0_5 in scene +[05/27 05:00:02 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_5 in scene +[05/27 05:00:02 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaper_e79b5660d8c2406d804485257eae6c23_3_0_5 in scene +[05/27 05:00:02 Worker 0 WARNING object_manager.py:1238] Could not find object candle_09223ab74c3b4b8525bb3f1f1bd405c2_2_0_5 in scene +Goal: place brown dried fish with rough texture next to bulbous shiny gold vase +[2026-05-27 05:01:04,509] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:18:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 4069 episode 0 object objadriedfish_b94ddf2091234161818b07461044cb2f_1_0_2 completed with success=False +[05/27 05:18:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4069: 1 episodes +[05/27 05:18:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:18:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:18:27 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4069 +[05/27 05:18:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4069 in 2.71s (batch: 2.62s, save: 0.09s) +[05/27 05:18:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4069 +[05/27 05:18:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4069: 0/1 successful episodes +[05/27 05:18:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4187 (index 43/116) +[05/27 05:18:27 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4187 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 05:18:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +Goal: place black pan next to transparent soap bottle +[2026-05-27 05:19:45,093] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:20:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 05:36:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 4187 episode 0 object cookingpan_2042502e26c8e4aa7f1acb4af74ccc69_1_0_2 completed with success=False +[05/27 05:36:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4187: 1 episodes +[05/27 05:36:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:36:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:36:20 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4187 +[05/27 05:36:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4187 in 2.47s (batch: 2.38s, save: 0.09s) +[05/27 05:36:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4187 +[05/27 05:36:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4187: 0/1 successful episodes +[05/27 05:36:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4253 (index 44/116) +[05/27 05:36:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4253 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 05:36:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +[05/27 05:36:38 Worker 0 WARNING object_manager.py:1238] Could not find object objashoe_0ad165ecf7264702b7b805b1d0c3967e_1_0_5 in scene +[05/27 05:36:38 Worker 0 WARNING object_manager.py:1238] Could not find object objacandle_c1c8f8af133d464585c1795735a5f8f0_1_0_5 in scene +Goal: place purple striped paper roll next to red glove +[2026-05-27 05:37:41,277] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:38:14 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 05:51:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 4253 episode 0 object objatoiletpaperroll_afb1da51bd2046a2964742b53eb1b270_1_0_9 completed with success=False +[05/27 05:51:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4253: 1 episodes +[05/27 05:51:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:51:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:51:45 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4253 +[05/27 05:51:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4253 in 2.73s (batch: 2.64s, save: 0.09s) +[05/27 05:51:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4253 +[05/27 05:51:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4253: 0/1 successful episodes +[05/27 05:51:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4293 (index 45/116) +[05/27 05:51:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4293 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 05:51:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +Goal: place black electronic keypad with green display next to yellow glass cutter tool +[2026-05-27 05:52:59,229] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:53:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 06:02:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 4293 episode 0 object objakeypad_b90b37839bb949bba7c5a6ff2f49d1c8_1_0_6 completed with success=False +[05/27 06:02:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4293: 1 episodes +[05/27 06:02:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:02:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:02:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4293 +[05/27 06:02:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4293 in 2.71s (batch: 2.62s, save: 0.09s) +[05/27 06:02:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4293 +[05/27 06:02:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4293: 0/1 successful episodes +[05/27 06:02:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4329 (index 46/116) +[05/27 06:02:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4329 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 06:02:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/27 06:02:30 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_9 in scene +Goal: place mechanical gauntlet next to blue glossy ceramic vase +[2026-05-27 06:03:34,075] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:21:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 4329 episode 0 object objamechanicalgauntlet_46092034259442ec91346f202fb2393e_2_0_8 completed with success=False +[05/27 06:22:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4329: 1 episodes +[05/27 06:22:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:22:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:22:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4329 +[05/27 06:22:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4329 in 2.38s (batch: 2.29s, save: 0.09s) +[05/27 06:22:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4329 +[05/27 06:22:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4329: 0/1 successful episodes +[05/27 06:22:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4412 (index 47/116) +[05/27 06:22:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4412 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 06:22:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +[05/27 06:22:11 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_8 in scene +Goal: place glossy green beetle figurine next to metallic blue laptop +[2026-05-27 06:23:15,065] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:35:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 4412 episode 0 object objadecorativeinsect_3d87721214d44cc6986677a844c80499_1_0_9 completed with success=False +[05/27 06:35:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4412: 1 episodes +[05/27 06:35:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:35:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:35:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4412 +[05/27 06:35:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4412 in 2.73s (batch: 2.64s, save: 0.09s) +[05/27 06:35:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4412 +[05/27 06:35:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4412: 0/1 successful episodes +[05/27 06:35:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4481 (index 48/116) +[05/27 06:35:18 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4481 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 06:35:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/27 [00:00 does not support tracking retries. +Goal: place white marble wedge with markings next to mosaicfragment +[2026-05-27 06:36:26,281] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:36:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 06:48:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 4481 episode 0 object objamarbleslab_7d540d7b25af4e41a58eaeb5037f88a9_1_0_5 completed with success=False +[05/27 06:48:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/27 [00:00 does not support tracking retries. +Goal: place purple snowman card next to blue metallic toaster with buttons +[2026-05-27 06:49:59,002] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:50:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 07:02:02 Worker 0 INFO pipeline.py:1114] Worker 0 house 4481 episode 1 object objagreetingcard_99d51751c64749d68d8da3903cb45194_1_0_6 completed with success=False +[05/27 07:02:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4481: 2 episodes +[05/27 07:02:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:02:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:02:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:02:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:02:11 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4481 +[05/27 07:02:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4481 in 5.09s (batch: 4.91s, save: 0.18s) +[05/27 07:02:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4481 +[05/27 07:02:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4481: 0/2 successful episodes +[05/27 07:02:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4502 (index 49/116) +[05/27 07:02:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4502 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 07:02:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +[05/27 07:02:16 Worker 0 WARNING object_manager.py:1238] Could not find object objacleaningsponge_afd092fac12f4ef8984b80d3d15de232_1_0_5 in scene +[05/27 07:02:16 Worker 0 WARNING object_manager.py:1238] Could not find object objaaerosolcan_b6b64dc8ae6049dbba19ae2cef3575bb_1_0_5 in scene +[05/27 07:02:16 Worker 0 WARNING object_manager.py:1238] Could not find object lettuce_78266f6bc320cc73d50a37e54430a582_1_0_6 in scene +Goal: place blue milk carton with branding next to narwhal skull +[2026-05-27 07:03:20,477] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:15:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 4502 episode 0 object objamilkcarton_aa9103c0122246f68dd367e640df32bb_1_0_7 completed with success=False +[05/27 07:15:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4502: 1 episodes +[05/27 07:15:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:15:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:15:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4502 +[05/27 07:15:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4502 in 3.06s (batch: 2.97s, save: 0.09s) +[05/27 07:15:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4502 +[05/27 07:15:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4502: 0/1 successful episodes +[05/27 07:15:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4631 (index 50/116) +[05/27 07:15:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4631 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 07:15:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[05/27 07:15:19 Worker 0 WARNING object_manager.py:1238] Could not find object objamedicalmask_b52524319c70458db1c3a78f9c096afe_1_0_5 in scene +[05/27 07:15:19 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_083eb9b9eb564701820d3a79377c77ce_1_0_5 in scene +[05/27 07:15:19 Worker 0 WARNING object_manager.py:1238] Could not find object objacleaningsponge_97aee64edf0c4521b82416f3b30c61ce_1_0_5 in scene +[05/27 07:15:19 Worker 0 WARNING object_manager.py:1238] Could not find object candle_1b82c5d62bcdb9c9e0fbc639fdc9e22a_1_0_5 in scene +Goal: place dark gray keypad with numbers next to traditional wooden rubber stamp with metal +[2026-05-27 07:16:26,315] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:30:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 4631 episode 0 object objakeypad_5ec36e995dd94222a1fd26b112b65cd2_2_0_6 completed with success=False +[05/27 07:30:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4631: 1 episodes +[05/27 07:30:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:30:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:30:08 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4631 +[05/27 07:30:08 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4631 in 2.71s (batch: 2.63s, save: 0.09s) +[05/27 07:30:08 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4631 +[05/27 07:30:08 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4631: 0/1 successful episodes +[05/27 07:30:08 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4684 (index 51/116) +[05/27 07:30:08 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4684 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 07:30:08 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/56 [00:00 does not support tracking retries. +Goal: place wooden house keyholder next to realistic pink gradient starfish model +[2026-05-27 07:31:25,301] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:32:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 07:48:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 4684 episode 0 object objakeyholder_7e8733261a034ef5b0302f1ee2fe2554_1_0_3 completed with success=True +[05/27 07:48:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4684: 1 episodes +[05/27 07:48:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 432 timesteps +[05/27 07:48:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:48:58 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4684 +[05/27 07:48:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4684 in 2.35s (batch: 2.27s, save: 0.09s) +[05/27 07:48:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4684 +[05/27 07:48:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4684: 1/1 successful episodes +[05/27 07:48:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4728 (index 52/116) +[05/27 07:48:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4728 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 07:48:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/60 [00:00 does not support tracking retries. +[05/27 07:49:06 Worker 0 WARNING object_manager.py:1238] Could not find object objamultitool_8e4f71b51ecc41488c0bd05491217797_1_0_2 in scene +[05/27 07:49:06 Worker 0 WARNING object_manager.py:1238] Could not find object Irishpotato_19394b332cf16c9d218c9f434ecf9c48_1_0_2 in scene +[05/27 07:49:06 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +Goal: place smoothing iron next to handheld white and orange tape dispenser +[2026-05-27 07:50:09,354] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:50:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 08:09:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 4728 episode 0 object objavintageiron_187871edbc5e40d8a75a4b654ce32146_1_0_2 completed with success=False +[05/27 08:09:56 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4728: 1 episodes +[05/27 08:09:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:09:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:09:58 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4728 +[05/27 08:09:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4728 in 2.48s (batch: 2.39s, save: 0.09s) +[05/27 08:09:59 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4728 +[05/27 08:09:59 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4728: 0/1 successful episodes +[05/27 08:09:59 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4811 (index 53/116) +[05/27 08:09:59 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4811 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 08:09:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/25 [00:00 does not support tracking retries. +Goal: place realistic yellow striped wasp next to rustic carved wooden block +[2026-05-27 08:11:05,062] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:11:42 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 08:21:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 4811 episode 0 object objainsect_2a266405e9044b5495cf55b7298c757b_1_0_6 completed with success=False +[05/27 08:21:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4811: 1 episodes +[05/27 08:21:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:21:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:21:48 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4811 +[05/27 08:21:48 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4811 in 2.78s (batch: 2.69s, save: 0.09s) +[05/27 08:21:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4811 +[05/27 08:21:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4811: 0/1 successful episodes +[05/27 08:21:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4883 (index 54/116) +[05/27 08:21:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4883 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 08:21:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/17 [00:00 does not support tracking retries. +Goal: place blue bifold wallet with brown interior next to glossy black dog statue sitting +[2026-05-27 08:22:55,678] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:23:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 08:30:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 4883 episode 0 object objawallet_284753c433144278b333b617615d6b3a_1_0_2 completed with success=False +[05/27 08:31:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4883: 1 episodes +[05/27 08:31:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:31:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:31:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4883 +[05/27 08:31:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4883 in 2.72s (batch: 2.63s, save: 0.09s) +[05/27 08:31:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4883 +[05/27 08:31:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4883: 0/1 successful episodes +[05/27 08:31:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4981 (index 55/116) +[05/27 08:31:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4981 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 08:31:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/8 [00:00 does not support tracking retries. +Goal: place device next to cream horseshoe neck pillow +[2026-05-27 08:32:10,427] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:37:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 4981 episode 0 object objaopticaldevice_03c6cfba0c13448faef5a7149bf7be86_1_0_2 completed with success=False +[05/27 08:37:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4981: 1 episodes +[05/27 08:37:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:37:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:37:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4981 +[05/27 08:37:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4981 in 2.66s (batch: 2.58s, save: 0.09s) +[05/27 08:37:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4981 +[05/27 08:37:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4981: 0/1 successful episodes +[05/27 08:37:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5101 (index 56/116) +[05/27 08:37:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5101 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 08:37:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/24 [00:00 does not support tracking retries. +Goal: place electricaltransformer next to smooth white ceramic serving bowl +[2026-05-27 08:38:47,209] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:39:19 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 08:44:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 5101 episode 0 object objaelectricaltransformer_6f46f585edac4aeca9634f6ec1f6ead0_2_0_7 completed with success=False +[05/27 08:44:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5101: 1 episodes +[05/27 08:44:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:44:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:44:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5101 +[05/27 08:44:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5101 in 2.48s (batch: 2.39s, save: 0.09s) +[05/27 08:44:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5101 +[05/27 08:44:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5101: 0/1 successful episodes +[05/27 08:44:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5180 (index 57/116) +[05/27 08:44:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5180 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 08:44:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/39 [00:00 does not support tracking retries. +[05/27 08:44:31 Worker 0 WARNING object_manager.py:1238] Could not find object objawoodlog_46bf60dedb084261b4ac8021a6d49f7d_1_0_2 in scene +[05/27 08:44:31 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativespike_e18633481a8b45608e19accc3c0e58a3_1_0_2 in scene +[05/27 08:44:31 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativecoil_ca64528b5f7b4a8092a2583ad8c7d929_1_0_5 in scene +[05/27 08:44:31 Worker 0 WARNING object_manager.py:1238] Could not find object objaheadband_a45e0fe1df584ab4b49c35ef88bd90b0_1_0_5 in scene +Goal: place rusty ring next to golden mace with black handle +[2026-05-27 08:45:34,666] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:57:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 5180 episode 0 object objametalring_f7a6369d6e9b4465a085d8e00690d956_1_0_3 completed with success=False +[05/27 08:57:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5180: 1 episodes +[05/27 08:57:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:57:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:57:15 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5180 +[05/27 08:57:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5180 in 2.45s (batch: 2.36s, save: 0.09s) +[05/27 08:57:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5180 +[05/27 08:57:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5180: 0/1 successful episodes +[05/27 08:57:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5219 (index 58/116) +[05/27 08:57:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5219 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 08:57:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +[05/27 08:57:21 Worker 0 WARNING object_manager.py:1238] Could not find object objainsect_016576dd30c1464f9115584748950ed2_1_0_2 in scene +[05/27 08:57:21 Worker 0 WARNING object_manager.py:1238] Could not find object apple_1d4990dc37d751a859248eaa9d6ecea0_1_0_2 in scene +Goal: place mint pawn next to modern silver toaster with blue accents +[2026-05-27 08:58:23,708] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:59:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 09:11:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 5219 episode 0 object objachesspiece_4a7ca69cec1d45648576c4dd262009d6_1_0_2 completed with success=False +[05/27 09:11:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5219: 1 episodes +[05/27 09:11:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:11:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:11:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5219 +[05/27 09:11:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5219 in 2.44s (batch: 2.35s, save: 0.09s) +[05/27 09:11:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5219 +[05/27 09:11:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5219: 0/1 successful episodes +[05/27 09:11:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5408 (index 59/116) +[05/27 09:11:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5408 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 09:11:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +[05/27 09:11:44 Worker 0 WARNING object_manager.py:1238] Could not find object objastonedish_7bf14a57ee5345689c3efd4bd1616466_1_0_6 in scene +[05/27 09:11:44 Worker 0 WARNING object_manager.py:1238] Could not find object objanameplate_bc384e6f26f84b04997161e3acde4bc3_1_0_6 in scene +Goal: place decorative sign next to smooth green apple +[2026-05-27 09:12:47,195] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:13:19 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 09:22:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 5408 episode 0 object objadecorativesign_718ce2f835cc4281a0b8102773c7b290_1_0_6 completed with success=False +[05/27 09:22:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5408: 1 episodes +[05/27 09:22:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:22:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:22:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5408 +[05/27 09:22:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5408 in 2.40s (batch: 2.31s, save: 0.09s) +[05/27 09:22:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5408 +[05/27 09:22:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5408: 0/1 successful episodes +[05/27 09:22:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5482 (index 60/116) +[05/27 09:22:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5482 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 09:22:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +Goal: place compact black rail mount with slots next to bread +[2026-05-27 09:24:16,803] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:24:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 09:33:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 5482 episode 0 object objarailmount_221ab95129a74da18fbab9b1e15d77f3_1_0_6 completed with success=False +[05/27 09:33:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5482: 1 episodes +[05/27 09:33:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:33:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:33:43 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5482 +[05/27 09:33:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5482 in 2.78s (batch: 2.69s, save: 0.09s) +[05/27 09:33:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5482 +[05/27 09:33:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5482: 0/1 successful episodes +[05/27 09:33:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5568 (index 61/116) +[05/27 09:33:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5568 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 09:33:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +[05/27 09:34:35 Worker 0 WARNING object_manager.py:1238] Could not find object objacleaningsponge_afd092fac12f4ef8984b80d3d15de232_1_0_3 in scene +Goal: place glossy green beetle figurine next to red rosebud turquoise stem +[2026-05-27 09:35:38,708] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:36:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 09:47:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 5568 episode 0 object objadecorativeinsect_3d87721214d44cc6986677a844c80499_1_0_6 completed with success=False +[05/27 09:47:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5568: 1 episodes +[05/27 09:47:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:47:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:47:38 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5568 +[05/27 09:47:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5568 in 2.40s (batch: 2.31s, save: 0.09s) +[05/27 09:47:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5568 +[05/27 09:47:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5568: 0/1 successful episodes +[05/27 09:47:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5628 (index 62/116) +[05/27 09:47:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5628 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 09:47:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +[05/27 09:48:13 Worker 0 WARNING object_manager.py:1238] Could not find object objastoneslab_79f7029be34f4ac9a418454d7967a859_1_0_2 in scene +Goal: place muffler next to beige weathered animal jawbone +[2026-05-27 09:49:17,077] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:58:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 5628 episode 0 object objashockabsorber_09418c0e952b4ccebedd650ef0acad24_1_0_7 completed with success=False +[05/27 09:58:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5628: 1 episodes +[05/27 09:58:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:58:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:58:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5628 +[05/27 09:58:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5628 in 2.52s (batch: 2.43s, save: 0.09s) +[05/27 09:58:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5628 +[05/27 09:58:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5628: 0/1 successful episodes +[05/27 09:58:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5699 (index 63/116) +[05/27 09:58:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5699 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 09:58:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +Goal: place curved pink petal next to sprayer +[2026-05-27 09:59:56,258] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:00:32 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 10:16:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 5699 episode 0 object objadecorativepetal_3609a49ccf984828a25d8b73c0ea672b_1_0_2 completed with success=False +[05/27 10:16:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5699: 1 episodes +[05/27 10:16:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:16:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:16:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5699 +[05/27 10:16:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5699 in 2.47s (batch: 2.38s, save: 0.09s) +[05/27 10:16:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5699 +[05/27 10:16:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5699: 0/1 successful episodes +[05/27 10:16:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5830 (index 64/116) +[05/27 10:16:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5830 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 10:16:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +Goal: place red cylindrical roller next to small gold dog statue +[2026-05-27 10:17:45,779] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:18:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 10:28:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 5830 episode 0 object objaroller_bfa3aab6d6704c0c9a48501cb239bb4d_1_0_6 completed with success=False +[05/27 10:28:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5830: 1 episodes +[05/27 10:28:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:28:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:28:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5830 +[05/27 10:28:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5830 in 2.71s (batch: 2.62s, save: 0.10s) +[05/27 10:28:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5830 +[05/27 10:28:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5830: 0/1 successful episodes +[05/27 10:28:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5905 (index 65/116) +[05/27 10:28:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5905 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 10:28:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[05/27 10:29:08 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingpanel_a3d6f7df9ff94ed59f95d5086d5f3fdd_1_0_7 in scene +Goal: place glossy dark chocolate cube with pink next to container +[2026-05-27 10:30:10,668] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:30:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 10:41:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 5905 episode 0 object objachocolate_9d8bc6de6791425aac600b838103f5ce_1_0_6 completed with success=False +[05/27 10:41:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5905: 1 episodes +[05/27 10:41:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:41:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:41:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5905 +[05/27 10:41:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5905 in 2.43s (batch: 2.34s, save: 0.09s) +[05/27 10:41:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5905 +[05/27 10:41:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5905: 0/1 successful episodes +[05/27 10:41:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5977 (index 66/116) +[05/27 10:41:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5977 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 10:41:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +Goal: place dispenser next to red potato +[2026-05-27 10:42:50,388] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:43:23 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 10:52:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 5977 episode 0 object soapdispenser_e2340594c344cded466620d23f003e8a_1_0_6 completed with success=False +[05/27 10:53:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5977: 1 episodes +[05/27 10:53:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:53:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:53:03 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5977 +[05/27 10:53:03 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5977 in 2.45s (batch: 2.36s, save: 0.09s) +[05/27 10:53:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5977 +[05/27 10:53:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5977: 0/1 successful episodes +[05/27 10:53:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6079 (index 67/116) +[05/27 10:53:04 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6079 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 10:53:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +[05/27 10:53:15 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativebook_a546d2dbdad04856b0649fdb4c8fb672_1_0_4 in scene +[05/27 10:53:15 Worker 0 WARNING object_manager.py:1238] Could not find object plate_5eb7564ba51c03b33a20e901d23c4f3b_2_0_4 in scene +[05/27 10:53:15 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_6 in scene +Goal: place purple rectangular packet with cupcake next to dark red hardcover journal with pages +[2026-05-27 10:54:18,219] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:54:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 10:59:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 6079 episode 0 object objafoodpacket_a784c3ce29d44a899afe3f80a20e4fec_1_0_2 completed with success=False +[05/27 10:59:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6079: 1 episodes +[05/27 10:59:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:59:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:59:06 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6079 +[05/27 10:59:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6079 in 2.41s (batch: 2.32s, save: 0.09s) +[05/27 10:59:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6079 +[05/27 10:59:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6079: 0/1 successful episodes +[05/27 10:59:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6148 (index 68/116) +[05/27 10:59:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6148 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 10:59:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/9 [00:00 does not support tracking retries. +Goal: place shallow wide terracotta bowl next to gray polished human hand statue +[2026-05-27 11:00:33,237] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:01:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 11:06:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 6148 episode 0 object bowl_4d97da0c296398947839b0e020453a0f_1_0_2 completed with success=False +[05/27 11:06:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6148: 1 episodes +[05/27 11:06:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:06:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:06:39 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6148 +[05/27 11:06:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6148 in 2.77s (batch: 2.68s, save: 0.09s) +[05/27 11:06:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6148 +[05/27 11:06:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6148: 0/1 successful episodes +[05/27 11:06:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6227 (index 69/116) +[05/27 11:06:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6227 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 11:06:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/25 [00:00 does not support tracking retries. +[05/27 11:07:13 Worker 0 WARNING object_manager.py:1238] Could not find object pencil_2c624e64d6f8a208a3a089ad77d16aa1_1_0_7 in scene +Goal: place french bulldog sculpture next to irregular yellow porous sponge object +[2026-05-27 11:08:17,201] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:09:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 6227 episode 0 object objasculpture_0aada10d6d7e46dca7cb54a8590b2a41_1_0_7 completed with success=True +[05/27 11:09:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6227: 1 episodes +[05/27 11:09:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 42 timesteps +[05/27 11:09:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:09:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6227 +[05/27 11:09:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6227 in 2.19s (batch: 2.17s, save: 0.03s) +[05/27 11:09:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6227 +[05/27 11:09:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6227: 1/1 successful episodes +[05/27 11:09:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6282 (index 70/116) +[05/27 11:09:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6282 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 11:09:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +Goal: place rustic ceramic bowl with patterns next to gold pump bottle +[2026-05-27 11:11:07,675] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:11:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 11:27:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 6282 episode 0 object objaceramicbowl_66b7280abfa84ed3b5f1ae4d51dfd946_1_0_2 completed with success=False +[05/27 11:27:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6282: 1 episodes +[05/27 11:27:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:27:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:27:29 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6282 +[05/27 11:27:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6282 in 2.50s (batch: 2.41s, save: 0.09s) +[05/27 11:27:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6282 +[05/27 11:27:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6282: 0/1 successful episodes +[05/27 11:27:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6328 (index 71/116) +[05/27 11:27:30 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6328 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 11:27:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +Goal: place gray stake with red spherical top next to decorative star +[2026-05-27 11:28:54,887] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:46:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 6328 episode 0 object objagardenstake_6c526bcea303477ba2cedb27c6c8af53_1_0_6 completed with success=False +[05/27 11:46:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6328: 1 episodes +[05/27 11:46:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:46:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:46:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6328 +[05/27 11:46:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6328 in 2.48s (batch: 2.39s, save: 0.09s) +[05/27 11:46:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6328 +[05/27 11:46:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6328: 0/1 successful episodes +[05/27 11:46:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6400 (index 72/116) +[05/27 11:46:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6400 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 11:46:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +Goal: place green packet next to small green packet +[2026-05-27 11:47:26,352] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:01:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 6400 episode 0 object objafoodpacket_58ff4a1e3fb24fbca6989f9b6d1fe23e_1_0_6 completed with success=False +[05/27 12:01:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6400: 1 episodes +[05/27 12:01:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:01:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:01:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6400 +[05/27 12:01:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6400 in 2.75s (batch: 2.66s, save: 0.09s) +[05/27 12:01:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6400 +[05/27 12:01:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6400: 0/1 successful episodes +[05/27 12:01:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6514 (index 73/116) +[05/27 12:01:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6514 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 12:01:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/18 [00:00 does not support tracking retries. +Goal: place purple spray bottle with white nozzle next to paint can +[2026-05-27 12:03:11,668] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:10:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 6514 episode 0 object atomizer_973bce9435d852757b03afc168e4c1df_1_0_6 completed with success=False +[05/27 12:10:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6514: 1 episodes +[05/27 12:10:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:10:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:10:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6514 +[05/27 12:10:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6514 in 2.67s (batch: 2.58s, save: 0.09s) +[05/27 12:10:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6514 +[05/27 12:10:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6514: 0/1 successful episodes +[05/27 12:10:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6548 (index 74/116) +[05/27 12:10:56 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 6548 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 12:10:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +[05/27 12:11:15 Worker 0 WARNING object_manager.py:1238] Could not find object objarodent_a7ca84f5b2224c9087aac4b4fb88ae3e_1_0_3 in scene +[05/27 12:11:15 Worker 0 WARNING object_manager.py:1238] Could not find object plate_ac19ca22ae10d8179cdc8dc68e02072d_2_0_3 in scene +Goal: place soup can next to irishpotato +[2026-05-27 12:12:18,555] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:12:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 12:27:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 6548 episode 0 object objasoupcan_7f207bacacd04ac88c54babf487ae570_1_0_2 completed with success=False +[05/27 12:27:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +[05/27 12:27:52 Worker 0 WARNING object_manager.py:1238] Could not find object objarodent_a7ca84f5b2224c9087aac4b4fb88ae3e_1_0_3 in scene +[05/27 12:27:52 Worker 0 WARNING object_manager.py:1238] Could not find object plate_ac19ca22ae10d8179cdc8dc68e02072d_2_0_3 in scene +Goal: place blue handheld ergonomic 3d scanner next to crockery +[2026-05-27 12:28:55,225] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:29:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 12:44:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 6548 episode 1 object obja3dscanner_35ce1f77245c4aeb903f6ec11634e83b_1_0_4 completed with success=False +[05/27 12:44:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6548: 2 episodes +[05/27 12:44:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:44:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:44:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:44:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:44:30 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6548 +[05/27 12:44:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6548 in 4.76s (batch: 4.59s, save: 0.17s) +[05/27 12:44:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6548 +[05/27 12:44:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6548: 0/2 successful episodes +[05/27 12:44:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6603 (index 75/116) +[05/27 12:44:30 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6603 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 12:44:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[05/27 12:45:01 Worker 0 WARNING object_manager.py:1238] Could not find object objatapedispenser_2988a85fdf0f4a679b17335bd8e26871_1_0_5 in scene +[05/27 12:45:01 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_083eb9b9eb564701820d3a79377c77ce_1_0_5 in scene +[05/27 12:45:01 Worker 0 WARNING object_manager.py:1238] Could not find object objadentures_46145e0221e94a3185b215c07d0f4340_1_0_7 in scene +[05/27 12:45:01 Worker 0 WARNING object_manager.py:1238] Could not find object objamarbleslab_7d540d7b25af4e41a58eaeb5037f88a9_1_0_7 in scene +Goal: place chain next to brown chihuahua +[2026-05-27 12:46:05,279] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:47:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:01:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 6603 episode 0 object objadecorativechain_a3ce79a459cc4849868eb2ab508dbd80_1_0_9 completed with success=False +[05/27 13:01:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6603: 1 episodes +[05/27 13:01:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:01:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:01:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6603 +[05/27 13:01:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6603 in 2.43s (batch: 2.34s, save: 0.09s) +[05/27 13:01:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6603 +[05/27 13:01:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6603: 0/1 successful episodes +[05/27 13:01:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6722 (index 76/116) +[05/27 13:01:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6722 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 13:01:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +Goal: place yellow handheld gps with blue screen next to white spine book +[2026-05-27 13:02:48,852] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:03:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:16:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 6722 episode 0 object objagpsdevice_d6d1d149471143fd9488fcdb7818b2d3_1_0_2 completed with success=False +[05/27 13:16:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6722: 1 episodes +[05/27 13:16:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:16:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:16:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6722 +[05/27 13:16:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6722 in 2.47s (batch: 2.38s, save: 0.09s) +[05/27 13:16:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6722 +[05/27 13:16:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6722: 0/1 successful episodes +[05/27 13:16:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6792 (index 77/116) +[05/27 13:16:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6792 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 13:16:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/56 [00:00 does not support tracking retries. +[05/27 13:17:08 Worker 0 WARNING object_manager.py:1238] Could not find object objamedicalmask_b52524319c70458db1c3a78f9c096afe_1_0_5 in scene +[05/27 13:17:08 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_9 in scene +Goal: place hand drill next to blocky pixelated hammer +[2026-05-27 13:18:11,391] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:34:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 6792 episode 0 object objahanddrill_3cb8cc146b98499fa093e6ba745ff7c4_1_0_7 completed with success=False +[05/27 13:34:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6792: 1 episodes +[05/27 13:34:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:34:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:34:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6792 +[05/27 13:34:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6792 in 2.63s (batch: 2.54s, save: 0.09s) +[05/27 13:34:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6792 +[05/27 13:34:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6792: 0/1 successful episodes +[05/27 13:34:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6917 (index 78/116) +[05/27 13:34:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6917 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 13:34:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/56 [00:00 does not support tracking retries. +Goal: place dark vintage iron nutcracker next to decorative plate +[2026-05-27 13:36:25,338] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:54:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 6917 episode 0 object objanutcracker_94c36df60580408ea582ad83c55cdca0_1_0_2 completed with success=False +[05/27 13:54:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6917: 1 episodes +[05/27 13:54:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:54:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:54:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6917 +[05/27 13:54:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6917 in 2.42s (batch: 2.33s, save: 0.09s) +[05/27 13:54:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6917 +[05/27 13:54:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6917: 0/1 successful episodes +[05/27 13:54:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6987 (index 79/116) +[05/27 13:54:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6987 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 13:54:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +Goal: place toy box next to detailed visible desert camouflage tank +[2026-05-27 13:56:09,435] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:56:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 14:09:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 6987 episode 0 object objatoystoragebox_b47be2bc67884e0397463a236e689b92_1_0_6 completed with success=False +[05/27 14:09:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6987: 1 episodes +[05/27 14:09:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:09:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:09:41 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6987 +[05/27 14:09:41 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6987 in 2.45s (batch: 2.36s, save: 0.09s) +[05/27 14:09:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6987 +[05/27 14:09:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6987: 0/1 successful episodes +[05/27 14:09:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7042 (index 80/116) +[05/27 14:09:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7042 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 14:09:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +Goal: place white ergonomic handheld device with display next to wooden house with hooks +[2026-05-27 14:10:57,808] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:11:30 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 14:18:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 7042 episode 0 object objahandhelddevice_a25db99294664f0ea8f871f67bd77077_1_0_7 completed with success=False +[05/27 14:18:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7042: 1 episodes +[05/27 14:18:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:18:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:18:45 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7042 +[05/27 14:18:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7042 in 2.47s (batch: 2.38s, save: 0.09s) +[05/27 14:18:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7042 +[05/27 14:18:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7042: 0/1 successful episodes +[05/27 14:18:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7101 (index 81/116) +[05/27 14:18:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7101 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 14:18:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +[05/27 14:19:11 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeartpiece_d50ff27e57074d4ab85909a9f66a5e34_1_0_2 in scene +[05/27 14:19:11 Worker 0 WARNING object_manager.py:1238] Could not find object objaathleticshoe_d9a3419498434fcdb94cfc9a907fe1cd_1_0_5 in scene +[05/27 14:19:11 Worker 0 WARNING object_manager.py:1238] Could not find object candle_1b82c5d62bcdb9c9e0fbc639fdc9e22a_1_0_5 in scene +Goal: place white scepter next to red bomb with timer and wires +[2026-05-27 14:20:14,237] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:20:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 14:33:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 7101 episode 0 object objadecorativescepter_1eb62803af504e558ea4c6325413dfe3_1_0_4 completed with success=False +[05/27 14:33:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7101: 1 episodes +[05/27 14:33:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:33:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:33:19 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7101 +[05/27 14:33:19 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7101 in 2.52s (batch: 2.43s, save: 0.09s) +[05/27 14:33:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7101 +[05/27 14:33:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7101: 0/1 successful episodes +[05/27 14:33:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7185 (index 82/116) +[05/27 14:33:19 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7185 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 14:33:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +Goal: place beige vintage calculator with antenna next to gray laptop +[2026-05-27 14:34:40,701] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:48:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 7185 episode 0 object objacalculatorradio_d17ba864b7a94eacaa34ee919210ba8d_1_0_6 completed with success=False +[05/27 14:48:35 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7185: 1 episodes +[05/27 14:48:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:48:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:48:38 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7185 +[05/27 14:48:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7185 in 2.47s (batch: 2.37s, save: 0.09s) +[05/27 14:48:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7185 +[05/27 14:48:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7185: 0/1 successful episodes +[05/27 14:48:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7304 (index 83/116) +[05/27 14:48:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7304 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 14:48:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/44 [00:00 does not support tracking retries. +[05/27 14:48:55 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeaccessory_e47911ac361a45c3b6c7f2f1d9071876_1_0_7 in scene +[05/27 14:48:55 Worker 0 WARNING object_manager.py:1238] Could not find object objaartifact_094a39bf1aa24447ba0120adfd2d2073_1_0_7 in scene +Goal: place smoke grenade next to red tomato +[2026-05-27 14:49:57,350] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:50:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:03:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 7304 episode 0 object objagrenade_d61768fbc7494143bb87852c36d1beaa_1_0_8 completed with success=False +[05/27 15:03:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7304: 1 episodes +[05/27 15:03:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:03:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:03:41 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7304 +[05/27 15:03:41 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7304 in 2.76s (batch: 2.67s, save: 0.09s) +[05/27 15:03:42 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7304 +[05/27 15:03:42 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7304: 0/1 successful episodes +[05/27 15:03:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7350 (index 84/116) +[05/27 15:03:42 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7350 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 15:03:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/9 [00:00 does not support tracking retries. +Goal: place glossy orange bell pepper with stem next to irish potato +[2026-05-27 15:04:54,970] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:05:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:11:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 7350 episode 0 object objabellpepper_aef570243a09466e818dd97d27cbd9dc_1_0_2 completed with success=False +[05/27 15:11:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7350: 1 episodes +[05/27 15:11:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:11:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:11:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7350 +[05/27 15:11:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7350 in 2.39s (batch: 2.30s, save: 0.09s) +[05/27 15:11:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7350 +[05/27 15:11:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7350: 0/1 successful episodes +[05/27 15:11:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7420 (index 85/116) +[05/27 15:11:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7420 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 15:11:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/56 [00:00 does not support tracking retries. +Goal: place instrumentality next to white embossed wedding card +[2026-05-27 15:12:40,526] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:28:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 7420 episode 0 object objapackage_aa9326180c1d48bebc96097c82ae4d6c_1_0_2 completed with success=False +[05/27 15:28:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7420: 1 episodes +[05/27 15:28:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:28:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:28:51 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7420 +[05/27 15:28:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7420 in 2.77s (batch: 2.67s, save: 0.09s) +[05/27 15:28:52 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7420 +[05/27 15:28:52 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7420: 0/1 successful episodes +[05/27 15:28:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7475 (index 86/116) +[05/27 15:28:52 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7475 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 15:28:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/13 [00:00 does not support tracking retries. +Goal: place wooden brush next to plump raw yellow chicken +[2026-05-27 15:30:03,757] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:37:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 7475 episode 0 object objapaintbrush_be6bd6967866421ea9dff02b84062bdf_1_0_3 completed with success=False +[05/27 15:37:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7475: 1 episodes +[05/27 15:37:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:37:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:37:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7475 +[05/27 15:37:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7475 in 2.69s (batch: 2.60s, save: 0.09s) +[05/27 15:37:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7475 +[05/27 15:37:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7475: 0/1 successful episodes +[05/27 15:37:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7576 (index 87/116) +[05/27 15:37:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7576 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 15:37:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/32 [00:00 does not support tracking retries. +[05/27 15:37:42 Worker 0 WARNING object_manager.py:1238] Could not find object objamodelship_6e8cfcffcb3944c2b2b88f8548489993_1_0_6 in scene +[05/27 15:37:42 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_23e99c616e7c0667edeeacb9669a5e0b_1_0_6 in scene +Goal: place decorative brown helmet with straps next to vintage wooden telephone +[2026-05-27 15:38:46,345] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:39:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:49:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 7576 episode 0 object objadecorativehelmet_9391d72042e541cf84721bfc158fb229_1_0_7 completed with success=False +[05/27 15:49:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7576: 1 episodes +[05/27 15:49:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:49:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:49:28 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7576 +[05/27 15:49:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7576 in 2.45s (batch: 2.36s, save: 0.09s) +[05/27 15:49:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7576 +[05/27 15:49:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7576: 0/1 successful episodes +[05/27 15:49:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7676 (index 88/116) +[05/27 15:49:29 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7676 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 15:49:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +Goal: place black handled curved sickle next to yellow and orange fish submarine +[2026-05-27 15:50:45,410] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:51:20 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:58:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 7676 episode 0 object objasickle_0c3d6826668b4c7ea9477484d4ebeed4_1_0_2 completed with success=False +[05/27 15:58:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7676: 1 episodes +[05/27 15:58:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:58:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:58:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7676 +[05/27 15:58:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7676 in 2.42s (batch: 2.33s, save: 0.09s) +[05/27 15:58:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7676 +[05/27 15:58:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7676: 0/1 successful episodes +[05/27 15:58:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7777 (index 89/116) +[05/27 15:58:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7777 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 15:58:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +Goal: place taper next to lighthouse with striped tower +[2026-05-27 15:59:28,164] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:09:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 7777 episode 0 object objacandle_42ad9182fa98425c99bfd06e1aa33e18_1_0_5 completed with success=False +[05/27 16:10:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7777: 1 episodes +[05/27 16:10:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:10:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:10:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7777 +[05/27 16:10:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7777 in 2.43s (batch: 2.34s, save: 0.09s) +[05/27 16:10:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7777 +[05/27 16:10:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7777: 0/1 successful episodes +[05/27 16:10:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7868 (index 90/116) +[05/27 16:10:04 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7868 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 16:10:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +Goal: place gold ornament next to soft white pillow with quilting +[2026-05-27 16:11:25,271] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:11:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 16:20:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 7868 episode 0 object objadecorativefixture_e14a2e218f6e4a588489e4b5508bff5e_1_0_7 completed with success=False +[05/27 16:20:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7868: 1 episodes +[05/27 16:20:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:20:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:20:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7868 +[05/27 16:20:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7868 in 2.70s (batch: 2.61s, save: 0.09s) +[05/27 16:20:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7868 +[05/27 16:20:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7868: 0/1 successful episodes +[05/27 16:20:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7980 (index 91/116) +[05/27 16:20:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7980 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 16:20:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +Goal: place silver sturdy metal hinge next to smooth yellow apple with stem +[2026-05-27 16:21:35,645] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:22:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 16:28:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 7980 episode 0 object objahinge_f2cfb95a05874d8eabb78f90efed2983_1_0_2 completed with success=False +[05/27 16:28:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7980: 1 episodes +[05/27 16:28:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:28:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:28:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7980 +[05/27 16:28:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7980 in 2.39s (batch: 2.30s, save: 0.09s) +[05/27 16:28:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7980 +[05/27 16:28:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7980: 0/1 successful episodes +[05/27 16:28:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8081 (index 92/116) +[05/27 16:28:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8081 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 16:28:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +[05/27 16:28:55 Worker 0 WARNING object_manager.py:1238] Could not find object objachisel_47f47ebbca6b4b92ab51302a4bde91fd_1_0_4 in scene +Goal: place white shell with blue accents next to bulbous shiny gold vase +[2026-05-27 16:29:59,459] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:30:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 16:44:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 8081 episode 0 object objacasing_f7c919ec53a748038436a18cd83e6b3d_1_0_4 completed with success=False +[05/27 16:44:50 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8081: 1 episodes +[05/27 16:44:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:44:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:44:52 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8081 +[05/27 16:44:52 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8081 in 2.46s (batch: 2.37s, save: 0.09s) +[05/27 16:44:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8081 +[05/27 16:44:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8081: 0/1 successful episodes +[05/27 16:44:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8141 (index 93/116) +[05/27 16:44:53 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8141 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 16:44:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 does not support tracking retries. +Goal: place vessel next to smooth elongated tan loaf +[2026-05-27 16:46:16,250] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:47:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 17:01:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 8141 episode 0 object objaflask_a9cedb7fc2d74f95ae7bc2b72960d3c6_1_0_8 completed with success=False +[05/27 17:01:06 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8141: 1 episodes +[05/27 17:01:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:01:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:01:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8141 +[05/27 17:01:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8141 in 2.46s (batch: 2.37s, save: 0.09s) +[05/27 17:01:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8141 +[05/27 17:01:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8141: 0/1 successful episodes +[05/27 17:01:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8232 (index 94/116) +[05/27 17:01:09 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8232 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 17:01:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +[05/27 17:01:30 Worker 0 WARNING object_manager.py:1238] Could not find object objarunningshoe_98f45c9d6b3949fe9bf712b2773fc92e_1_0_5 in scene +[05/27 17:01:30 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_5 in scene +[05/27 17:01:30 Worker 0 WARNING object_manager.py:1238] Could not find object objareplicagrenade_7edd60c4948642b290d863898cacd3dd_1_0_6 in scene +[05/27 17:01:30 Worker 0 WARNING object_manager.py:1238] Could not find object cup_a4bc4557e863c56d9b0accc2703dbbe4_1_0_6 in scene +Goal: place brown bird next to bulbous shiny gold metallic vase +[2026-05-27 17:02:36,633] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:04:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 8232 episode 0 object objadecorativebird_b4371275a3d8455d861926a06e68f63b_1_0_7 completed with success=True +[05/27 17:04:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8232: 1 episodes +[05/27 17:04:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 178 timesteps +[05/27 17:04:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:04:48 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8232 +[05/27 17:04:48 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8232 in 2.52s (batch: 2.46s, save: 0.06s) +[05/27 17:04:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8232 +[05/27 17:04:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8232: 1/1 successful episodes +[05/27 17:04:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8312 (index 95/116) +[05/27 17:04:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8312 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 17:04:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +[05/27 17:04:58 Worker 0 WARNING object_manager.py:1238] Could not find object objamodelblimp_38ffa448ceff406d987f4b71acab5fb2_2_0_2 in scene +[05/27 17:04:58 Worker 0 WARNING object_manager.py:1238] Could not find object plate_b7993147fccc9ed6100d789b3917e22e_1_0_2 in scene +Goal: place black rubber mallet with wooden handle next to white 2% milk carton with branding +[2026-05-27 17:06:02,800] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:06:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 17:23:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 8312 episode 0 object objarubbermallet_57fc7be2efcd4284a9514f05dbb51942_2_0_4 completed with success=False +[05/27 17:23:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8312: 1 episodes +[05/27 17:23:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:23:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:23:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8312 +[05/27 17:23:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8312 in 2.72s (batch: 2.63s, save: 0.09s) +[05/27 17:23:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8312 +[05/27 17:23:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8312: 0/1 successful episodes +[05/27 17:23:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8389 (index 96/116) +[05/27 17:23:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8389 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 17:23:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/34 [00:00 does not support tracking retries. +Goal: place binoculars next to open shark jaws +[2026-05-27 17:24:40,703] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:25:16 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 17:38:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 8389 episode 0 object objanightvisiongoggles_eae7cbfcd0ec4060bde31338845ea44c_1_0_6 completed with success=False +[05/27 17:38:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8389: 1 episodes +[05/27 17:38:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:38:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:38:41 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8389 +[05/27 17:38:41 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8389 in 2.72s (batch: 2.63s, save: 0.09s) +[05/27 17:38:42 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8389 +[05/27 17:38:42 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8389: 0/1 successful episodes +[05/27 17:38:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8460 (index 97/116) +[05/27 17:38:42 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8460 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 17:38:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +Goal: place glossy square dark chocolate next to red tomato +[2026-05-27 17:39:52,712] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:48:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 8460 episode 0 object objachocolatebar_38a2c03610004351acc0cce85ba022e2_3_0_6 completed with success=False +[05/27 17:48:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8460: 1 episodes +[05/27 17:48:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:48:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:48:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8460 +[05/27 17:48:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8460 in 2.53s (batch: 2.43s, save: 0.09s) +[05/27 17:48:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8460 +[05/27 17:48:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8460: 0/1 successful episodes +[05/27 17:48:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8542 (index 98/116) +[05/27 17:48:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8542 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 17:48:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/7 [00:00 does not support tracking retries. +Goal: place yellow striped bee next to fresh medium green romaine lettuce +[2026-05-27 17:49:56,609] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:50:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 17:55:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 8542 episode 0 object objadecorativeinsect_40804168b9a340d8935fa277c9e5de74_1_0_2 completed with success=False +[05/27 17:55:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8542: 1 episodes +[05/27 17:55:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:55:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:55:28 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8542 +[05/27 17:55:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8542 in 2.76s (batch: 2.67s, save: 0.09s) +[05/27 17:55:28 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8542 +[05/27 17:55:28 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8542: 0/1 successful episodes +[05/27 17:55:28 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8648 (index 99/116) +[05/27 17:55:28 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8648 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 17:55:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +Goal: place compact handheld gimbal camera with screen next to golden brown artisanal bread +[2026-05-27 17:56:46,176] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:10:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 8648 episode 0 object objagimbalcamera_13523a1c494f4a159aa90ac014c03221_1_0_8 completed with success=False +[05/27 18:10:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8648: 1 episodes +[05/27 18:10:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:10:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:10:52 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8648 +[05/27 18:10:52 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8648 in 2.74s (batch: 2.65s, save: 0.09s) +[05/27 18:10:52 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8648 +[05/27 18:10:52 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8648: 0/1 successful episodes +[05/27 18:10:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8725 (index 100/116) +[05/27 18:10:52 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8725 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 18:10:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +Goal: place white remote control with colorful buttons next to smooth green rectangular pillow +[2026-05-27 18:12:11,379] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:12:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 18:24:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 8725 episode 0 object objaremotecontrol_d72eebbf82be48f0a53e7e8b712e6a66_1_0_6 completed with success=False +[05/27 18:24:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8725: 1 episodes +[05/27 18:24:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:24:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:24:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8725 +[05/27 18:24:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8725 in 2.82s (batch: 2.72s, save: 0.09s) +[05/27 18:24:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8725 +[05/27 18:24:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8725: 0/1 successful episodes +[05/27 18:24:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8833 (index 101/116) +[05/27 18:24:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8833 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 18:24:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +[05/27 18:24:44 Worker 0 WARNING object_manager.py:1238] Could not find object objawalkingstick_4f178c32dc494b5e8c57e6f7673bf3c9_1_0_2 in scene +Goal: place butt hinge next to yellowed parchment with red wax seal +[2026-05-27 18:25:47,622] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:26:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 18:28:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 8833 episode 0 object objahinge_1ffa7463a95647c5bc8c07359ff161ae_1_0_6 completed with success=True +[05/27 18:28:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8833: 1 episodes +[05/27 18:28:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 90 timesteps +[05/27 18:28:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:28:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8833 +[05/27 18:28:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8833 in 2.18s (batch: 2.15s, save: 0.04s) +[05/27 18:28:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8833 +[05/27 18:28:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8833: 1/1 successful episodes +[05/27 18:28:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8884 (index 102/116) +[05/27 18:28:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8884 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 18:28:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/27 18:28:43 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +[05/27 18:28:43 Worker 0 WARNING object_manager.py:1238] Could not find object objalantern_4cdb208ff30a4e5493f73fef6246604d_1_0_7 in scene +[05/27 18:28:43 Worker 0 WARNING object_manager.py:1238] Could not find object objalighter_b4f0807272244a82aae694536db1b0b2_1_0_7 in scene +Goal: place handmirror next to medieval soldier with spear +[2026-05-27 18:29:45,136] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:42:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 8884 episode 0 object objahandmirror_a3348d3e4a674350af738e8cf20ec378_1_0_4 completed with success=False +[05/27 18:42:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8884: 1 episodes +[05/27 18:42:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:42:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:42:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8884 +[05/27 18:42:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8884 in 2.80s (batch: 2.70s, save: 0.09s) +[05/27 18:42:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8884 +[05/27 18:42:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8884: 0/1 successful episodes +[05/27 18:42:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8972 (index 103/116) +[05/27 18:42:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8972 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 18:42:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +Goal: place black cast iron teapot with autumn leaves next to red conical flower with leaves +[2026-05-27 18:44:06,322] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:44:42 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 18:53:02 Worker 0 INFO pipeline.py:1114] Worker 0 house 8972 episode 0 object objateapot_50ac7cdcf9b440a78a9243f8fab4ff53_1_0_2 completed with success=False +[05/27 18:53:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8972: 1 episodes +[05/27 18:53:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:53:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:53:08 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8972 +[05/27 18:53:08 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8972 in 2.51s (batch: 2.42s, save: 0.09s) +[05/27 18:53:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8972 +[05/27 18:53:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8972: 0/1 successful episodes +[05/27 18:53:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9024 (index 104/116) +[05/27 18:53:09 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9024 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 18:53:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +Goal: place black decorative sign with guitar next to blue handled scissors +[2026-05-27 18:54:25,675] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:54:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:07:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 9024 episode 0 object objadecorativesign_b44dd97814b44a049bd81501c6850bcf_1_0_2 completed with success=False +[05/27 19:07:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9024: 1 episodes +[05/27 19:07:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:07:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:07:38 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9024 +[05/27 19:07:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9024 in 2.74s (batch: 2.62s, save: 0.12s) +[05/27 19:07:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9024 +[05/27 19:07:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9024: 0/1 successful episodes +[05/27 19:07:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9092 (index 105/116) +[05/27 19:07:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9092 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 19:07:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +Goal: place sharp kitchen knife with wooden handle next to compact blue toaster +[2026-05-27 19:09:11,802] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:28:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 9092 episode 0 object objakitchenknife_ab324ce501ee4ce9a35f3df76817dcfb_1_0_2 completed with success=False +[05/27 19:28:17 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9092: 1 episodes +[05/27 19:28:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:28:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:28:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9092 +[05/27 19:28:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9092 in 2.52s (batch: 2.41s, save: 0.10s) +[05/27 19:28:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9092 +[05/27 19:28:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9092: 0/1 successful episodes +[05/27 19:28:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9163 (index 106/116) +[05/27 19:28:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9163 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 19:28:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/44 [00:00 does not support tracking retries. +[05/27 19:28:42 Worker 0 WARNING object_manager.py:1238] Could not find object objadentures_46145e0221e94a3185b215c07d0f4340_1_0_7 in scene +[05/27 19:28:42 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaperroll_d72efd4c78e146d88aeff93a721c5330_1_0_7 in scene +Goal: place wall hook next to yellow vase +[2026-05-27 19:29:45,783] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:30:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:44:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 9163 episode 0 object objawallhook_7326578d9a0947e3890e8d50db79a033_1_0_4 completed with success=False +[05/27 19:44:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9163: 1 episodes +[05/27 19:44:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:44:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:44:24 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9163 +[05/27 19:44:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9163 in 2.80s (batch: 2.71s, save: 0.09s) +[05/27 19:44:25 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9163 +[05/27 19:44:25 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9163: 0/1 successful episodes +[05/27 19:44:25 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9187 (index 107/116) +[05/27 19:44:25 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 9187 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 19:44:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[05/27 19:44:33 Worker 0 WARNING object_manager.py:1238] Could not find object objaswitchplate_80ed82d00f494be2b5a8706d3c06c832_1_0_5 in scene +[05/27 19:44:33 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene +[05/27 19:44:33 Worker 0 WARNING object_manager.py:1238] Could not find object objaduck_7db7cf276de344fca99a29c88bb1e7df_1_0_8 in scene +[05/27 19:44:33 Worker 0 WARNING object_manager.py:1238] Could not find object cup_10a41d8e2f259cb0d60e0069b1683f0a_1_0_8 in scene +Goal: place small green seedling in terracotta pot next to medium cardboard box with flaps +[2026-05-27 19:45:38,245] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:46:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:59:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 9187 episode 0 object objaplantpot_51030882447e428a8efec83649ee3172_1_0_9 completed with success=False +[05/27 19:59:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[05/27 19:59:46 Worker 0 WARNING object_manager.py:1238] Could not find object objaswitchplate_80ed82d00f494be2b5a8706d3c06c832_1_0_5 in scene +[05/27 19:59:46 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene +[05/27 19:59:46 Worker 0 WARNING object_manager.py:1238] Could not find object objaduck_7db7cf276de344fca99a29c88bb1e7df_1_0_8 in scene +[05/27 19:59:46 Worker 0 WARNING object_manager.py:1238] Could not find object cup_10a41d8e2f259cb0d60e0069b1683f0a_1_0_8 in scene +Goal: place glossy slender curved green stick next to metal spear +[2026-05-27 20:00:48,794] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:01:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:14:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 9187 episode 1 object objadecorativerod_3dd7a9dee7234665826875b678fac3eb_1_0_9 completed with success=False +[05/27 20:14:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9187: 2 episodes +[05/27 20:14:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:14:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:14:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:14:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:14:39 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9187 +[05/27 20:14:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9187 in 5.43s (batch: 5.26s, save: 0.17s) +[05/27 20:14:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9187 +[05/27 20:14:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9187: 0/2 successful episodes +[05/27 20:14:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9252 (index 108/116) +[05/27 20:14:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9252 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 20:14:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/60 [00:00 does not support tracking retries. +[05/27 20:14:58 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturelighthouse_bde6dcab0a89413eba4422da59f19cef_1_0_5 in scene +[05/27 20:14:58 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativesymbol_096e1889564d4e9c8836c7805c1ecebf_1_0_5 in scene +[05/27 20:14:58 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +[05/27 20:14:58 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_2_0_7 in scene +Goal: place green smoke grenade next to small brown oval potato +[2026-05-27 20:16:03,795] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:16:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:32:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 9252 episode 0 object objasmokegrenade_6dbb48151a9147b4830aa7bf55fc8282_1_0_2 completed with success=False +[05/27 20:32:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9252: 1 episodes +[05/27 20:32:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:32:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:32:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9252 +[05/27 20:32:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9252 in 2.45s (batch: 2.36s, save: 0.09s) +[05/27 20:32:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9252 +[05/27 20:32:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9252: 0/1 successful episodes +[05/27 20:32:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9320 (index 109/116) +[05/27 20:32:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9320 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 20:32:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/13 [00:00 does not support tracking retries. +Goal: place dark stone cylindrical seal with carvings next to dark metal cooking pot +[2026-05-27 20:33:40,477] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:40:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 9320 episode 0 object objacylinderseal_faa5a6851ee44affa0655094c13fd3b0_1_0_2 completed with success=False +[05/27 20:40:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9320: 1 episodes +[05/27 20:40:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:40:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:40:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9320 +[05/27 20:40:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9320 in 2.47s (batch: 2.38s, save: 0.09s) +[05/27 20:40:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9320 +[05/27 20:40:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9320: 0/1 successful episodes +[05/27 20:40:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9423 (index 110/116) +[05/27 20:40:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9423 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 20:40:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 does not support tracking retries. +Goal: place dark horse knight chess piece next to light gray wooden bowl +[2026-05-27 20:42:10,494] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:42:42 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:57:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 9423 episode 0 object objachesspiece_d7e344aa00cc462586cede69e49613fd_1_0_3 completed with success=False +[05/27 20:57:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9423: 1 episodes +[05/27 20:57:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:57:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:57:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9423 +[05/27 20:57:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9423 in 2.62s (batch: 2.53s, save: 0.09s) +[05/27 20:57:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9423 +[05/27 20:57:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9423: 0/1 successful episodes +[05/27 20:57:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9502 (index 111/116) +[05/27 20:57:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9502 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 20:57:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +[05/27 20:58:14 Worker 0 WARNING object_manager.py:1238] Could not find object objasign_34df7c8bc2604403b69cfda448a2ff8e_1_0_3 in scene +Goal: place intricate dark wooden molding with carvings next to large mottled bone vertebra +[2026-05-27 20:59:19,137] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:59:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 21:14:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 9502 episode 0 object objamolding_0cec9637549f4355a4067cbf732f028f_1_0_3 completed with success=False +[05/27 21:14:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9502: 1 episodes +[05/27 21:14:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 21:14:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 21:14:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9502 +[05/27 21:14:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9502 in 2.42s (batch: 2.33s, save: 0.09s) +[05/27 21:14:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9502 +[05/27 21:14:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9502: 0/1 successful episodes +[05/27 21:14:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9588 (index 112/116) +[05/27 21:14:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9588 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 21:14:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +[05/27 21:15:01 Worker 0 WARNING object_manager.py:1238] Could not find object objarubbermallet_f6f3eee2d418463bbab1abe93e274d60_1_0_2 in scene +[05/27 21:15:01 Worker 0 WARNING object_manager.py:1238] Could not find object tomato_b4fe73bc978b2372694676fd9d6ef462_1_0_2 in scene +Goal: place triangular pink cheese wedge next to green apple +[2026-05-27 21:16:04,388] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 21:16:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 21:22:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 9588 episode 0 object objacheese_b945c8c26cf540229510b7d9e65f98c7_1_0_2 completed with success=False +[05/27 21:22:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9588: 1 episodes +[05/27 21:22:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 21:22:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 21:22:57 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9588 +[05/27 21:22:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9588 in 2.41s (batch: 2.32s, save: 0.09s) +[05/27 21:22:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9588 +[05/27 21:22:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9588: 0/1 successful episodes +[05/27 21:22:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9651 (index 113/116) +[05/27 21:22:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9651 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 21:22:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[05/27 21:23:17 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingpanel_8bde878be8dd4fb7b6914db9c4dd31bb_1_0_6 in scene +Goal: place blocky wooden hourglass with sand next to slim blue phone device +[2026-05-27 21:24:22,507] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 21:24:54 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 21:37:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 9651 episode 0 object objahourglass_e278f37f71ac4e2e980c6ef53899c2d7_1_0_8 completed with success=False +[05/27 21:37:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9651: 1 episodes +[05/27 21:37:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 21:37:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 21:37:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9651 +[05/27 21:37:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9651 in 2.73s (batch: 2.64s, save: 0.09s) +[05/27 21:37:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9651 +[05/27 21:37:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9651: 0/1 successful episodes +[05/27 21:37:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9727 (index 114/116) +[05/27 21:37:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9727 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 21:37:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +[05/27 21:37:43 Worker 0 WARNING object_manager.py:1238] Could not find object vase_d568e4c5c2948c69c05d527517276b06_1_0_2 in scene +Goal: place dark stone cylindrical seal with carvings next to brown fish with large eyes +[2026-05-27 21:38:47,566] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 21:48:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 9727 episode 0 object objacylinderseal_faa5a6851ee44affa0655094c13fd3b0_1_0_6 completed with success=False +[05/27 21:48:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9727: 1 episodes +[05/27 21:48:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 21:48:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 21:48:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9727 +[05/27 21:48:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9727 in 2.66s (batch: 2.57s, save: 0.09s) +[05/27 21:48:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9727 +[05/27 21:48:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9727: 0/1 successful episodes +[05/27 21:48:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9887 (index 115/116) +[05/27 21:48:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9887 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 +[05/27 21:48:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +[05/27 21:48:51 Worker 0 WARNING object_manager.py:1238] Could not find object objatube_747652d3308142278b333f1e2ee13549_1_0_9 in scene +Goal: place stoneaxe next to white hardcover academic book +[2026-05-27 21:49:57,338] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 22:06:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 9887 episode 0 object objastoneaxe_11654de384f440d7ba70c71febdff3cc_1_0_2 completed with success=False +[05/27 22:06:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9887: 1 episodes +[05/27 22:06:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 22:06:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 22:06:51 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9887 +[05/27 22:06:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9887 in 2.69s (batch: 2.60s, save: 0.09s) +[05/27 22:06:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9887 +[05/27 22:06:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9887: 0/1 successful episodes +[05/27 22:06:51 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses +[05/27 22:06:52 INFO pipeline.py:1496] Completed 116 houses, skipped 0 houses +[05/27 22:06:52 INFO pipeline.py:1499] Success count: 8, Total count: 120 +[05/27 22:06:52 INFO pipeline.py:1500] Success rate: 6.67% +Combined 120 episodes from 116 files → /tmp/tmpz4a64pon.h5 + +Saved → /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/results.csv at-end: 6.67% | oracle: 6.67% of 120 episodes +[2026-05-27 22:07:06,169] INFO MolmoSpaces simulator eval finished: success=8/120 rate=0.0667 output=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval +[2026-05-27 22:07:06,169] INFO Benchmark CSV: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/results.csv diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/submission/eval_meta.json b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/submission/eval_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4fcf626bdef22cb657a18c08bdadefa567c2306e --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/submission/eval_meta.json @@ -0,0 +1,9 @@ +{ + "step": null, + "checkpoint_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt", + "benchmark_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00", + "policy_name": "latest", + "command": "#!/usr/bin/env bash\nset -euo pipefail\ncd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy\nconda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament", + "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815", + "csv_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/results.csv" +} diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/submission/results.csv b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/submission/results.csv new file mode 100644 index 0000000000000000000000000000000000000000..ac1102ff7bb225f77bf17759fadd15d2c9535d67 --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/submission/results.csv @@ -0,0 +1,113 @@ +# policy_name: latest +# run_path: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815 +# dt: 0.066 +# max_steps: 450 +policy,category,successes,total,success_rate_pct,ci_95_low_pct,ci_95_high_pct,oracle_successes,oracle_rate_pct,oracle_ci_95_low_pct,oracle_ci_95_high_pct,jerk_joint_mean,jerk_joint_std +latest,Bowl,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,46.219413,0.0 +latest,Cookingpan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,17.47908,0.0 +latest,Knife,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,67.980586,0.0 +latest,Obja,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.912527,0.0 +latest,Objaammunition,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.277999,0.0 +latest,Objabellpepper,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.854887,0.0 +latest,Objabottleopener,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,54.614521,0.0 +latest,Objabowl,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,53.174936,0.0 +latest,Objacaduceus,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,15.683705,0.0 +latest,Objacalculatorradio,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,48.838615,0.0 +latest,Objacandle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,50.733737,0.0 +latest,Objacasing,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,38.402728,0.0 +latest,Objaceramicbowl,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,18.142245,0.0 +latest,Objacheese,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,15.424804,0.0 +latest,Objachesspiece,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,44.810601,19.353377 +latest,Objachocolate,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,27.919072,0.0 +latest,Objachocolatebar,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,61.071682,0.0 +latest,Objachocolatebunny,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.630897,0.0 +latest,Objaclamp,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,38.466805,26.538622 +latest,Objacylinderseal,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,45.401946,2.020686 +latest,Objadecorativebird,1,3,33.33,6.76,80.59,1,33.33,6.76,80.59,45.980729,13.061591 +latest,Objadecorativeblades,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.627746,0.0 +latest,Objadecorativebottle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.964137,0.0 +latest,Objadecorativecamera,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,55.39956,0.0 +latest,Objadecorativechain,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,53.218469,0.0 +latest,Objadecorativefixture,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,44.437515,0.0 +latest,Objadecorativehelmet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,74.488363,0.0 +latest,Objadecorativeinsect,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,73.838124,44.594848 +latest,Objadecorativenameplate,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.733677,0.0 +latest,Objadecorativepetal,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,53.066293,0.0 +latest,Objadecorativepiece,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,26.141637,0.0 +latest,Objadecorativerod,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,31.147745,0.0 +latest,Objadecorativescepter,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.416899,0.0 +latest,Objadecorativesign,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,42.986853,9.28702 +latest,Objadriedfish,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.651175,0.0 +latest,Objaelectricaltransformer,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,39.702666,0.0 +latest,Objaflask,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,52.780154,0.0 +latest,Objafoodpacket,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,53.519406,0.968604 +latest,Objagardenstake,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.385969,0.0 +latest,Objagimbalcamera,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,17.770689,0.0 +latest,Objagpsdevice,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,26.059234,0.0 +latest,Objagreetingcard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,96.552821,0.0 +latest,Objagrenade,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,99.009723,0.0 +latest,Objaguitareffectspedal,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.959346,0.0 +latest,Objahanddrill,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,14.668261,0.0 +latest,Objahandhelddevice,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,63.540213,0.0 +latest,Objahandle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,23.520973,0.0 +latest,Objahandmirror,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,50.471631,0.0 +latest,Objahangingpot,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.62725,0.0 +latest,Objahinge,1,2,50.0,9.43,90.57,1,50.0,9.43,90.57,83.924619,53.271144 +latest,Objahourglass,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.573134,0.0 +latest,Objainsect,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,267.882196,0.0 +latest,Objajewelrybox,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,160.917352,0.0 +latest,Objajuicer,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,59.22058,0.0 +latest,Objakeyholder,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,36.340989,0.0 +latest,Objakeypad,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,23.34343,11.956362 +latest,Objakitchenknife,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.858539,0.0 +latest,Objalinearrail,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,56.554712,0.0 +latest,Objamarbleslab,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,18.592743,0.0 +latest,Objamechanicalgauntlet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,48.016795,0.0 +latest,Objametalring,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,31.59923,0.0 +latest,Objamicrophone,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.116286,0.0 +latest,Objamilkcarton,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,51.40643,0.0 +latest,Objamolding,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,41.989303,0.0 +latest,Objamoth,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,19.388664,0.0 +latest,Objamug,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,38.479633,0.0 +latest,Objanightvisiongoggles,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,112.497882,0.0 +latest,Objanutcracker,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,58.229201,0.0 +latest,Objaopticaldevice,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,54.043604,0.0 +latest,Objapackage,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,51.196791,0.0 +latest,Objapaintbrush,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,195.591818,0.0 +latest,Objapillbottle,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,203.791763,153.022191 +latest,Objaplantpot,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.69721,0.0 +latest,Objaplayingcard,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,34.552917,0.0 +latest,Objapocketknife,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,51.450926,0.0 +latest,Objaportablemediaplayer,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,33.900666,0.0 +latest,Objaposter,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,147.57565,0.0 +latest,Objarailmount,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,108.238261,0.0 +latest,Objaremotecontrol,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,46.469439,0.0 +latest,Objaroller,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,34.569314,0.0 +latest,Objarubbermallet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,45.501954,0.0 +latest,Objasculpture,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,36.39125,0.0 +latest,Objashackle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,16.115131,0.0 +latest,Objashockabsorber,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,46.796724,0.0 +latest,Objasickle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.066719,0.0 +latest,Objasign,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.443405,0.0 +latest,Objasmartspeaker,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,48.125469,0.0 +latest,Objasmokegrenade,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,51.786711,0.0 +latest,Objasoupcan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,38.201698,0.0 +latest,Objaspike,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,63.362972,0.0 +latest,Objaspraycan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,60.109361,0.0 +latest,Objasqueegee,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,72.29069,0.0 +latest,Objastoneaxe,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,41.307944,0.0 +latest,Objastonedisc,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,68.669645,0.0 +latest,Objateapot,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,33.954963,0.0 +latest,Objatoiletpaperroll,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,41.051492,0.0 +latest,Objatomato,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,53.859374,0.0 +latest,Objatoystoragebox,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.930972,0.0 +latest,Objavhscassette,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.968658,0.0 +latest,Objavintageiron,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,63.15672,0.0 +latest,Objawallet,1,2,50.0,9.43,90.57,1,50.0,9.43,90.57,59.199216,8.729178 +latest,Objawallhook,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.953911,0.0 +latest,Objaweaponsight,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,44.62374,0.0 +latest,Objawristwatch,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.414778,0.0 +latest,Plate,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.761037,0.0 +latest,Soap Dispenser,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,16.864132,0.0 +latest,Spray Bottle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,48.88873,0.0 +latest,OVERALL,8,120,6.67,3.46,12.61,8,6.67,3.46,12.61,50.146649,46.510438 diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/submission/run_command.sh b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/submission/run_command.sh new file mode 100644 index 0000000000000000000000000000000000000000..b1d0f8135bff665cb152a60ef0cb53c309d07039 --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/submission/run_command.sh @@ -0,0 +1,4 @@ +#!/usr/bin/env bash +set -euo pipefail +cd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy +conda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/submission/shard_00_results.csv b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/submission/shard_00_results.csv new file mode 100644 index 0000000000000000000000000000000000000000..ac1102ff7bb225f77bf17759fadd15d2c9535d67 --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/submission/shard_00_results.csv @@ -0,0 +1,113 @@ +# policy_name: latest +# run_path: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815 +# dt: 0.066 +# max_steps: 450 +policy,category,successes,total,success_rate_pct,ci_95_low_pct,ci_95_high_pct,oracle_successes,oracle_rate_pct,oracle_ci_95_low_pct,oracle_ci_95_high_pct,jerk_joint_mean,jerk_joint_std +latest,Bowl,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,46.219413,0.0 +latest,Cookingpan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,17.47908,0.0 +latest,Knife,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,67.980586,0.0 +latest,Obja,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.912527,0.0 +latest,Objaammunition,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.277999,0.0 +latest,Objabellpepper,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.854887,0.0 +latest,Objabottleopener,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,54.614521,0.0 +latest,Objabowl,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,53.174936,0.0 +latest,Objacaduceus,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,15.683705,0.0 +latest,Objacalculatorradio,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,48.838615,0.0 +latest,Objacandle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,50.733737,0.0 +latest,Objacasing,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,38.402728,0.0 +latest,Objaceramicbowl,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,18.142245,0.0 +latest,Objacheese,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,15.424804,0.0 +latest,Objachesspiece,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,44.810601,19.353377 +latest,Objachocolate,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,27.919072,0.0 +latest,Objachocolatebar,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,61.071682,0.0 +latest,Objachocolatebunny,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.630897,0.0 +latest,Objaclamp,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,38.466805,26.538622 +latest,Objacylinderseal,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,45.401946,2.020686 +latest,Objadecorativebird,1,3,33.33,6.76,80.59,1,33.33,6.76,80.59,45.980729,13.061591 +latest,Objadecorativeblades,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.627746,0.0 +latest,Objadecorativebottle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.964137,0.0 +latest,Objadecorativecamera,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,55.39956,0.0 +latest,Objadecorativechain,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,53.218469,0.0 +latest,Objadecorativefixture,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,44.437515,0.0 +latest,Objadecorativehelmet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,74.488363,0.0 +latest,Objadecorativeinsect,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,73.838124,44.594848 +latest,Objadecorativenameplate,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.733677,0.0 +latest,Objadecorativepetal,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,53.066293,0.0 +latest,Objadecorativepiece,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,26.141637,0.0 +latest,Objadecorativerod,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,31.147745,0.0 +latest,Objadecorativescepter,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.416899,0.0 +latest,Objadecorativesign,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,42.986853,9.28702 +latest,Objadriedfish,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.651175,0.0 +latest,Objaelectricaltransformer,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,39.702666,0.0 +latest,Objaflask,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,52.780154,0.0 +latest,Objafoodpacket,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,53.519406,0.968604 +latest,Objagardenstake,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.385969,0.0 +latest,Objagimbalcamera,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,17.770689,0.0 +latest,Objagpsdevice,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,26.059234,0.0 +latest,Objagreetingcard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,96.552821,0.0 +latest,Objagrenade,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,99.009723,0.0 +latest,Objaguitareffectspedal,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.959346,0.0 +latest,Objahanddrill,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,14.668261,0.0 +latest,Objahandhelddevice,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,63.540213,0.0 +latest,Objahandle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,23.520973,0.0 +latest,Objahandmirror,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,50.471631,0.0 +latest,Objahangingpot,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.62725,0.0 +latest,Objahinge,1,2,50.0,9.43,90.57,1,50.0,9.43,90.57,83.924619,53.271144 +latest,Objahourglass,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.573134,0.0 +latest,Objainsect,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,267.882196,0.0 +latest,Objajewelrybox,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,160.917352,0.0 +latest,Objajuicer,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,59.22058,0.0 +latest,Objakeyholder,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,36.340989,0.0 +latest,Objakeypad,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,23.34343,11.956362 +latest,Objakitchenknife,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.858539,0.0 +latest,Objalinearrail,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,56.554712,0.0 +latest,Objamarbleslab,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,18.592743,0.0 +latest,Objamechanicalgauntlet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,48.016795,0.0 +latest,Objametalring,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,31.59923,0.0 +latest,Objamicrophone,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.116286,0.0 +latest,Objamilkcarton,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,51.40643,0.0 +latest,Objamolding,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,41.989303,0.0 +latest,Objamoth,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,19.388664,0.0 +latest,Objamug,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,38.479633,0.0 +latest,Objanightvisiongoggles,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,112.497882,0.0 +latest,Objanutcracker,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,58.229201,0.0 +latest,Objaopticaldevice,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,54.043604,0.0 +latest,Objapackage,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,51.196791,0.0 +latest,Objapaintbrush,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,195.591818,0.0 +latest,Objapillbottle,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,203.791763,153.022191 +latest,Objaplantpot,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.69721,0.0 +latest,Objaplayingcard,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,34.552917,0.0 +latest,Objapocketknife,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,51.450926,0.0 +latest,Objaportablemediaplayer,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,33.900666,0.0 +latest,Objaposter,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,147.57565,0.0 +latest,Objarailmount,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,108.238261,0.0 +latest,Objaremotecontrol,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,46.469439,0.0 +latest,Objaroller,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,34.569314,0.0 +latest,Objarubbermallet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,45.501954,0.0 +latest,Objasculpture,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,36.39125,0.0 +latest,Objashackle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,16.115131,0.0 +latest,Objashockabsorber,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,46.796724,0.0 +latest,Objasickle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.066719,0.0 +latest,Objasign,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.443405,0.0 +latest,Objasmartspeaker,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,48.125469,0.0 +latest,Objasmokegrenade,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,51.786711,0.0 +latest,Objasoupcan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,38.201698,0.0 +latest,Objaspike,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,63.362972,0.0 +latest,Objaspraycan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,60.109361,0.0 +latest,Objasqueegee,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,72.29069,0.0 +latest,Objastoneaxe,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,41.307944,0.0 +latest,Objastonedisc,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,68.669645,0.0 +latest,Objateapot,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,33.954963,0.0 +latest,Objatoiletpaperroll,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,41.051492,0.0 +latest,Objatomato,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,53.859374,0.0 +latest,Objatoystoragebox,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.930972,0.0 +latest,Objavhscassette,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.968658,0.0 +latest,Objavintageiron,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,63.15672,0.0 +latest,Objawallet,1,2,50.0,9.43,90.57,1,50.0,9.43,90.57,59.199216,8.729178 +latest,Objawallhook,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.953911,0.0 +latest,Objaweaponsight,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,44.62374,0.0 +latest,Objawristwatch,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.414778,0.0 +latest,Plate,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.761037,0.0 +latest,Soap Dispenser,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,16.864132,0.0 +latest,Spray Bottle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,48.88873,0.0 +latest,OVERALL,8,120,6.67,3.46,12.61,8,6.67,3.46,12.61,50.146649,46.510438 diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/submission/submission_manifest.json b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/submission/submission_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..910a1eb6e10fedf99506d82de3dc7f71daacd60c --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_00/submission/submission_manifest.json @@ -0,0 +1,162 @@ +{ + "policy_name": "latest", + "checkpoint_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt", + "benchmark_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_00", + "results_csv": "results.csv", + "summary_json": "summary.json", + "episode_results_jsonl": "episode_results.jsonl", + "eval_meta_json": "eval_meta.json", + "eval_log": "eval.log", + "metrics_mean": { + "success_rate": 0.06666666666666667, + "success_count": 8.0, + "total_episodes": 120.0, + "avg_episode_length": 432.05, + "oracle_done_rate": 0.06666666666666667, + "success_rate_pct": 6.67, + "oracle_rate_pct": 6.67 + }, + "stats": { + "total_episodes": 120, + "success_count": 8, + "failure_count": 112, + "success_rate": 0.06666666666666667, + "avg_episode_length": 432.05, + "min_episode_length": 40, + "max_episode_length": 449, + "num_houses": 116, + "house_success_rates": { + "house_1058": 0.0, + "house_1180": 0.0, + "house_1260": 0.0, + "house_1332": 0.0, + "house_1399": 1.0, + "house_1536": 0.0, + "house_1640": 0.0, + "house_1732": 0.0, + "house_1781": 0.0, + "house_1912": 0.0, + "house_2024": 0.0, + "house_2090": 0.0, + "house_2200": 0.0, + "house_2306": 0.0, + "house_2433": 0.0, + "house_2482": 0.0, + "house_2597": 0.0, + "house_2683": 0.0, + "house_2824": 0.0, + "house_2891": 0.0, + "house_3007": 0.0, + "house_3120": 0.0, + "house_3216": 0.0, + "house_3272": 0.0, + "house_3331": 0.0, + "house_3400": 0.0, + "house_3483": 1.0, + "house_3537": 0.0, + "house_3610": 0.0, + "house_3656": 0.0, + "house_3748": 0.0, + "house_3864": 0.0, + "house_3956": 1.0, + "house_4069": 0.0, + "house_4187": 0.0, + 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0000000000000000000000000000000000000000..a7fce84f37f416b980fab2648548045f1ec56375 --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/running_log.log @@ -0,0 +1,504 @@ +05/26 12:05:16 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 677] +05/26 12:05:16 INFO: Starting house-by-house rollout of 120 houses with 2 episodes each (240 total episodes) using 1 worker processes [pipeline.py: 1279] +05/26 12:05:16 INFO: Evaluation configuration: [pipeline.py: 1286] +05/26 12:05:16 INFO: {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 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'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} [pipeline.py: 1287] +05/26 12:05:16 INFO: [Worker 0] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler [pipeline.py: 439] +05/26 12:05:16 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 12:05:16 INFO: [Worker 0] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler [pipeline.py: 445] +05/26 12:05:16 INFO: [Worker 0] Worker 0 starting house 167 (index 0/120) [pipeline.py: 473] +05/26 12:05:16 INFO: [Worker 0] Loaded 1 episodes for house 167 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/26 12:05:16 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 12:05:32 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/26 12:05:34 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_167_ceiling.xml [task_sampler.py: 797] +05/26 12:05:34 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=167, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 12:05:34 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 12:05:34 INFO: [Worker 0] randomize_scene: Setting poses for 40 objects [json_eval_task_sampler.py: 686] +05/26 12:05:34 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 12:05:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 12:05:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 12:05:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 12:05:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 12:05:36 INFO: [Worker 0] Sampled task 'Pick up the purple blaster and place it next to the tall dark cup with ridges base' [task_sampler.py: 1136] +05/26 12:05:36 INFO: [Worker 0] Worker 0 house 167 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 12:05:36 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 12:13:08 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 12:59:09 INFO: [Worker 0] Worker 0 house 167 episode 0 object objatoyblaster_bd41ea9e538343b3a6f90b159a219d04_1_0_6 completed with success=False [pipeline.py: 1114] +05/26 12:59:16 INFO: [Worker 0] Batching and saving trajectory data for house_167: 1 episodes [pipeline.py: 233] +05/26 12:59:16 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 12:59:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 12:59:23 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_167 [save_utils.py: 703] +05/26 12:59:23 INFO: [Worker 0] Successfully saved trajectory data for house_167 in 6.52s (batch: 6.22s, save: 0.30s) [pipeline.py: 280] +05/26 12:59:24 WARNING: [Worker 0] No trajectory data to save for house_167 [pipeline.py: 229] +05/26 12:59:24 INFO: [Worker 0] Worker 0 completed house 167: 0/1 successful episodes [pipeline.py: 1243] +05/26 12:59:24 INFO: [Worker 0] Worker 0 starting house 303 (index 1/120) [pipeline.py: 473] +05/26 12:59:24 INFO: [Worker 0] Loaded 1 episodes for house 303 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/26 12:59:24 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 12:59:30 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_303_ceiling.xml [task_sampler.py: 797] +05/26 12:59:30 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=303, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 12:59:30 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 12:59:30 INFO: [Worker 0] randomize_scene: Setting poses for 22 objects [json_eval_task_sampler.py: 686] +05/26 12:59:30 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 12:59:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 12:59:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 12:59:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 12:59:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 12:59:30 INFO: [Worker 0] Sampled task 'Pick up the arrowhead and place it next to the small brown house with brick walls' [task_sampler.py: 1136] +05/26 12:59:30 INFO: [Worker 0] Worker 0 house 303 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 12:59:30 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 13:45:29 INFO: [Worker 0] Worker 0 house 303 episode 0 object objadecorativeartifact_c1a2d05e1af049f0b0dd2899b2572cd7_1_0_3 completed with success=False [pipeline.py: 1114] +05/26 13:45:41 INFO: [Worker 0] Batching and saving trajectory data for house_303: 1 episodes [pipeline.py: 233] +05/26 13:45:41 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 13:45:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 13:45:48 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_303 [save_utils.py: 703] +05/26 13:45:48 INFO: [Worker 0] Successfully saved trajectory data for house_303 in 6.64s (batch: 6.47s, save: 0.18s) [pipeline.py: 280] +05/26 13:45:49 WARNING: [Worker 0] No trajectory data to save for house_303 [pipeline.py: 229] +05/26 13:45:49 INFO: [Worker 0] Worker 0 completed house 303: 0/1 successful episodes [pipeline.py: 1243] +05/26 13:45:49 INFO: [Worker 0] Worker 0 starting house 361 (index 2/120) [pipeline.py: 473] +05/26 13:45:49 INFO: [Worker 0] Loaded 1 episodes for house 361 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/26 13:45:49 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 13:46:22 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_361_ceiling.xml [task_sampler.py: 797] +05/26 13:46:22 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=361, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 13:46:22 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 13:46:22 INFO: [Worker 0] randomize_scene: Setting poses for 67 objects [json_eval_task_sampler.py: 686] +05/26 13:46:22 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 13:46:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 13:46:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 13:46:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 13:46:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 13:46:22 INFO: [Worker 0] Sampled task 'Pick up the light blue cat with yellow patterns and place it next to the green plant in pot' [task_sampler.py: 1136] +05/26 13:46:22 INFO: [Worker 0] Worker 0 house 361 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 13:46:23 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 13:52:56 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 15:23:17 INFO: [Worker 0] Worker 0 house 361 episode 0 object objadecorativecat_1beba9b24a9143df8559410f1522aad6_1_0_6 completed with success=False [pipeline.py: 1114] +05/26 15:23:28 INFO: [Worker 0] Batching and saving trajectory data for house_361: 1 episodes [pipeline.py: 233] +05/26 15:23:28 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 15:23:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 15:23:37 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_361 [save_utils.py: 703] +05/26 15:23:37 INFO: [Worker 0] Successfully saved trajectory data for house_361 in 8.94s (batch: 8.64s, save: 0.30s) [pipeline.py: 280] +05/26 15:23:39 WARNING: [Worker 0] No trajectory data to save for house_361 [pipeline.py: 229] +05/26 15:23:39 INFO: [Worker 0] Worker 0 completed house 361: 0/1 successful episodes [pipeline.py: 1243] +05/26 15:23:39 INFO: [Worker 0] Worker 0 starting house 376 (index 3/120) [pipeline.py: 473] +05/26 15:23:39 INFO: [Worker 0] Loaded 2 episodes for house 376 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/26 15:23:39 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 15:24:08 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_376_ceiling.xml [task_sampler.py: 797] +05/26 15:24:08 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=376, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 15:24:08 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 15:24:08 INFO: [Worker 0] randomize_scene: Setting poses for 42 objects [json_eval_task_sampler.py: 686] +05/26 15:24:08 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 15:24:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 15:24:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 15:24:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 15:24:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 15:24:08 INFO: [Worker 0] Sampled task 'Pick up the black capsule and place it next to the realistic yellow crab' [task_sampler.py: 1136] +05/26 15:24:08 INFO: [Worker 0] Worker 0 house 376 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/26 15:24:09 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 15:24:09 WARNING: [Worker 0] Could not find object objatube_747652d3308142278b333f1e2ee13549_1_0_5 in scene [object_manager.py: 1238] +05/26 15:29:51 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 16:22:03 INFO: [Worker 0] Worker 0 house 376 episode 0 object objacapsule_870611a797c1472197872d137247a094_1_0_6 completed with success=False [pipeline.py: 1114] +05/26 16:22:13 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 16:22:23 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_376_ceiling.xml [task_sampler.py: 797] +05/26 16:22:23 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=376, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 16:22:23 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 16:22:23 INFO: [Worker 0] randomize_scene: Setting poses for 42 objects [json_eval_task_sampler.py: 686] +05/26 16:22:23 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 16:22:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 16:22:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 16:22:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 16:22:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 16:22:23 INFO: [Worker 0] Sampled task 'Pick up the garden hose nozzle and place it next to the bulbous shiny gold vase' [task_sampler.py: 1136] +05/26 16:22:23 INFO: [Worker 0] Worker 0 house 376 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/26 16:22:23 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 16:22:24 WARNING: [Worker 0] Could not find object objatube_747652d3308142278b333f1e2ee13549_1_0_5 in scene [object_manager.py: 1238] +05/26 16:28:07 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 17:18:11 INFO: [Worker 0] Worker 0 house 376 episode 1 object objagardenhosenozzle_5c2d445dc21549d6a052a5913a7d511c_1_0_6 completed with success=False [pipeline.py: 1114] +05/26 17:18:19 INFO: [Worker 0] Batching and saving trajectory data for house_376: 2 episodes [pipeline.py: 233] +05/26 17:18:19 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 17:18:25 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 17:18:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 17:18:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 17:18:32 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_376 [save_utils.py: 703] +05/26 17:18:32 INFO: [Worker 0] Successfully saved trajectory data for house_376 in 12.50s (batch: 11.92s, save: 0.58s) [pipeline.py: 280] +05/26 17:18:32 WARNING: [Worker 0] No trajectory data to save for house_376 [pipeline.py: 229] +05/26 17:18:32 INFO: [Worker 0] Worker 0 completed house 376: 0/2 successful episodes [pipeline.py: 1243] +05/26 17:18:32 INFO: [Worker 0] Worker 0 starting house 482 (index 4/120) [pipeline.py: 473] +05/26 17:18:32 INFO: [Worker 0] Loaded 1 episodes for house 482 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/26 17:18:32 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 17:18:40 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_482_ceiling.xml [task_sampler.py: 797] +05/26 17:18:40 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=482, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 17:18:40 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 17:18:40 INFO: [Worker 0] randomize_scene: Setting poses for 41 objects [json_eval_task_sampler.py: 686] +05/26 17:18:40 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 17:18:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 17:18:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 17:18:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 17:18:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 17:18:40 INFO: [Worker 0] Sampled task 'Pick up the compact black electronic device with lens and place it next to the small rectangular wooden box' [task_sampler.py: 1136] +05/26 17:18:40 INFO: [Worker 0] Worker 0 house 482 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 17:18:40 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 17:24:02 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 18:13:45 INFO: [Worker 0] Worker 0 house 482 episode 0 object objaopticaldevice_03c6cfba0c13448faef5a7149bf7be86_1_0_7 completed with success=False [pipeline.py: 1114] +05/26 18:13:55 INFO: [Worker 0] Batching and saving trajectory data for house_482: 1 episodes [pipeline.py: 233] +05/26 18:13:55 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 18:14:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 18:14:03 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_482 [save_utils.py: 703] +05/26 18:14:03 INFO: [Worker 0] Successfully saved trajectory data for house_482 in 7.55s (batch: 7.33s, save: 0.22s) [pipeline.py: 280] +05/26 18:14:04 WARNING: [Worker 0] No trajectory data to save for house_482 [pipeline.py: 229] +05/26 18:14:04 INFO: [Worker 0] Worker 0 completed house 482: 0/1 successful episodes [pipeline.py: 1243] +05/26 18:14:04 INFO: [Worker 0] Worker 0 starting house 518 (index 5/120) [pipeline.py: 473] +05/26 18:14:04 INFO: [Worker 0] Loaded 1 episodes for house 518 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/26 18:14:04 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 18:14:27 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_518_ceiling.xml [task_sampler.py: 797] +05/26 18:14:27 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=518, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 18:14:27 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 18:14:27 INFO: [Worker 0] randomize_scene: Setting poses for 62 objects [json_eval_task_sampler.py: 686] +05/26 18:14:27 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 18:14:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 18:14:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 18:14:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 18:14:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 18:14:27 INFO: [Worker 0] Sampled task 'Pick up the bronze human statue and place it next to the fresh spherical green lettuce with stem' [task_sampler.py: 1136] +05/26 18:14:27 INFO: [Worker 0] Worker 0 house 518 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 18:14:27 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 18:14:28 WARNING: [Worker 0] Could not find object objafishsculpture_923adf85919b43739cac4bfb4e2777d0_1_0_2 in scene [object_manager.py: 1238] +05/26 18:14:28 WARNING: [Worker 0] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_2 in scene [object_manager.py: 1238] +05/26 18:14:28 WARNING: [Worker 0] Could not find object objatapedispenser_44f566f4b8a34fd7b904dd55359017ed_1_0_3 in scene [object_manager.py: 1238] +05/26 18:19:44 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 19:03:54 INFO: [Worker 0] Worker 0 house 518 episode 0 object statue_da4a8f1a0bdae66afec8d4581e3d4544_1_0_2 completed with success=False [pipeline.py: 1114] +05/26 19:04:03 INFO: [Worker 0] Batching and saving trajectory data for house_518: 1 episodes [pipeline.py: 233] +05/26 19:04:03 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 19:04:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 19:04:10 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_518 [save_utils.py: 703] +05/26 19:04:10 INFO: [Worker 0] Successfully saved trajectory data for house_518 in 6.47s (batch: 6.29s, save: 0.18s) [pipeline.py: 280] +05/26 19:04:11 WARNING: [Worker 0] No trajectory data to save for house_518 [pipeline.py: 229] +05/26 19:04:11 INFO: [Worker 0] Worker 0 completed house 518: 0/1 successful episodes [pipeline.py: 1243] +05/26 19:04:11 INFO: [Worker 0] Worker 0 starting house 591 (index 6/120) [pipeline.py: 473] +05/26 19:04:11 INFO: [Worker 0] Loaded 1 episodes for house 591 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/26 19:04:11 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 19:04:36 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_591_ceiling.xml [task_sampler.py: 797] +05/26 19:04:36 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=591, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 19:04:36 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 19:04:36 INFO: [Worker 0] randomize_scene: Setting poses for 62 objects [json_eval_task_sampler.py: 686] +05/26 19:04:36 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 19:04:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 19:04:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 19:04:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 19:04:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 19:04:36 INFO: [Worker 0] Sampled task 'Pick up the large rusty metal nail and place it next to the fresh round green lettuce' [task_sampler.py: 1136] +05/26 19:04:36 INFO: [Worker 0] Worker 0 house 591 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 19:04:36 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 19:04:37 WARNING: [Worker 0] Could not find object objadecorativeaccessory_e47911ac361a45c3b6c7f2f1d9071876_1_0_5 in scene [object_manager.py: 1238] +05/26 19:04:37 WARNING: [Worker 0] Could not find object objadecorativeaccessory_e47911ac361a45c3b6c7f2f1d9071876_2_0_5 in scene [object_manager.py: 1238] +05/26 19:04:37 WARNING: [Worker 0] Could not find object objaminiaturetower_0780a7e5369442c3967681084a046588_1_0_5 in scene [object_manager.py: 1238] +05/26 19:04:37 WARNING: [Worker 0] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene [object_manager.py: 1238] +05/26 19:10:15 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 19:22:52 ERROR: Uncaught exception: [mp_logging.py: 268] +Traceback (most recent call last): + File "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py", line 1066, in + raise SystemExit(main()) + ^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py", line 938, in main + results = run_evaluation( + ^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py", line 690, in run_evaluation + success_count, total_count = runner.run(preloaded_policy=runner_policy) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1467, in run + house_processing_worker( + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/data_generation/pipeline.py", line 483, in house_processing_worker + runner_class.process_single_house( + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1095, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/data_generation/pipeline.py", line 834, in run_single_rollout + observation, reward, terminal, truncated, infos = task.step(action_cmd) + ^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/tasks/task.py", line 351, in step + observation, reward, terminated, truncated, info = self.get_and_cache_all_step_information() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/tasks/task.py", line 196, in get_and_cache_all_step_information + observation = self.get_observations() + ^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/tasks/task.py", line 182, in get_observations + env_obs = self._sensor_suite.get_observations( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/env/abstract_sensors.py", line 111, in get_observations + return { + ^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/env/abstract_sensors.py", line 112, in + uuid: sensor.get_observation(env=env, task=task, **kwargs) # type: ignore + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/env/sensors.py", line 638, in get_observation + info = task.get_info()[batch_index] + ^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/tasks/pick_and_place_next_to_task.py", line 137, in get_info + p_sup_p = om.approximate_supporting_geoms(pickup_obj.body_id, b2g) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/env/object_manager.py", line 1664, in approximate_supporting_geoms + bpoly, bz, bt = get_body_box(body) + ^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/env/object_manager.py", line 1648, in get_body_box + c, e = body_aabb(self.model, self.data, bid) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/utils/mj_model_and_data_utils.py", line 87, in body_aabb + return geom_aabb(model, data, geoms) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/utils/mj_model_and_data_utils.py", line 145, in geom_aabb + mesh_aabb_center, mesh_aabb_size = mesh_aabb(model, data, geom_id) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/utils/mj_model_and_data_utils.py", line 116, in mesh_aabb + aabb_min = np.min(vertices, axis=0) + ^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/numpy/core/fromnumeric.py", line 2831, in _min_dispatcher + def _min_dispatcher(a, axis=None, out=None, keepdims=None, initial=None, + +KeyboardInterrupt diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/running_log.log b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/running_log.log new file mode 100644 index 0000000000000000000000000000000000000000..abe7aed1e2f812b2e4ce7d3db27e39b5928f4670 --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/running_log.log @@ -0,0 +1,3126 @@ +05/26 19:48:16 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 677] +05/26 19:48:16 INFO: Starting house-by-house rollout of 114 houses with 2 episodes each (228 total episodes) using 1 worker processes [pipeline.py: 1279] +05/26 19:48:16 INFO: Evaluation configuration: [pipeline.py: 1286] +05/26 19:48:16 INFO: {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['droid_shoulder_light_randomization', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 'wan_molmobot_franka', + 'obs_camera_name': 'droid_shoulder_light_randomization', + 'obs_image_key': 'rgb_head', + 'obs_state_key': 'robot_state', + 'obs_wrist_camera_name': 'wrist_camera_zed_mini', + 'obs_wrist_image_key': 'rgb_wrist', + 'policy_cls': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [591, + 628, + 699, + 744, + 803, + 884, + 988, + 1065, + 1184, + 1265, + 1339, + 1415, + 1552, + 1667, + 1734, + 1793, + 1916, + 2025, + 2094, + 2201, + 2331, + 2434, + 2490, + 2599, + 2724, + 2834, + 2892, + 3019, + 3122, + 3224, + 3273, + 3346, + 3409, + 3500, + 3577, + 3677, + 3749, + 3816, + 3871, + 3993, + 4079, + 4191, + 4255, + 4298, + 4345, + 4439, + 4514, + 4636, + 4685, + 4696, + 4731, + 4821, + 4917, + 4999, + 5103, + 5181, + 5248, + 5418, + 5507, + 5578, + 5632, + 5708, + 5836, + 5907, + 5980, + 6083, + 6153, + 6240, + 6287, + 6348, + 6403, + 6515, + 6616, + 6733, + 6787, + 6819, + 6930, + 6991, + 7043, + 7126, + 7192, + 7319, + 7356, + 7434, + 7480, + 7613, + 7705, + 7790, + 7871, + 7985, + 8087, + 8177, + 8235, + 8314, + 8392, + 8478, + 8546, + 8662, + 8727, + 8848, + 8896, + 8981, + 9033, + 9094, + 9169, + 9259, + 9327, + 9431, + 9511, + 9591, + 9660, + 9742, + 9850, + 9899], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} [pipeline.py: 1287] +05/26 19:48:16 INFO: [Worker 0] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler [pipeline.py: 439] +05/26 19:48:16 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 19:48:16 INFO: [Worker 0] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler [pipeline.py: 445] +05/26 19:48:16 INFO: [Worker 0] Worker 0 starting house 591 (index 0/114) [pipeline.py: 473] +05/26 19:48:16 INFO: [Worker 0] Loaded 1 episodes for house 591 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/26 19:48:16 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 19:48:31 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/26 19:48:35 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_591_ceiling.xml [task_sampler.py: 797] +05/26 19:48:35 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=591, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 19:48:35 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 19:48:35 INFO: [Worker 0] randomize_scene: Setting poses for 62 objects [json_eval_task_sampler.py: 686] +05/26 19:48:35 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 19:48:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 19:48:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 19:48:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 19:48:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 19:48:35 INFO: [Worker 0] Sampled task 'Pick up the large rusty metal nail and place it next to the fresh round green lettuce' [task_sampler.py: 1136] +05/26 19:48:35 INFO: [Worker 0] Worker 0 house 591 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 19:48:35 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 19:48:35 WARNING: [Worker 0] Could not find object objadecorativeaccessory_e47911ac361a45c3b6c7f2f1d9071876_1_0_5 in scene [object_manager.py: 1238] +05/26 19:48:35 WARNING: [Worker 0] Could not find object objadecorativeaccessory_e47911ac361a45c3b6c7f2f1d9071876_2_0_5 in scene [object_manager.py: 1238] +05/26 19:48:35 WARNING: [Worker 0] Could not find object objaminiaturetower_0780a7e5369442c3967681084a046588_1_0_5 in scene [object_manager.py: 1238] +05/26 19:48:35 WARNING: [Worker 0] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene [object_manager.py: 1238] +05/26 19:48:40 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 19:57:37 INFO: [Worker 0] Worker 0 house 591 episode 0 object objanail_7ef93eea9c5349abb276931726681dc3_1_0_6 completed with success=False [pipeline.py: 1114] +05/26 19:57:42 INFO: [Worker 0] Batching and saving trajectory data for house_591: 1 episodes [pipeline.py: 233] +05/26 19:57:42 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 19:57:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 19:57:44 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_591 [save_utils.py: 703] +05/26 19:57:44 INFO: [Worker 0] Successfully saved trajectory data for house_591 in 2.84s (batch: 2.76s, save: 0.09s) [pipeline.py: 280] +05/26 19:57:45 WARNING: [Worker 0] No trajectory data to save for house_591 [pipeline.py: 229] +05/26 19:57:45 INFO: [Worker 0] Worker 0 completed house 591: 0/1 successful episodes [pipeline.py: 1243] +05/26 19:57:45 INFO: [Worker 0] Worker 0 starting house 628 (index 1/114) [pipeline.py: 473] +05/26 19:57:45 INFO: [Worker 0] Loaded 1 episodes for house 628 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/26 19:57:45 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 19:58:03 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/26 19:58:07 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_628_ceiling.xml [task_sampler.py: 797] +05/26 19:58:07 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=628, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 19:58:07 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 19:58:07 INFO: [Worker 0] randomize_scene: Setting poses for 72 objects [json_eval_task_sampler.py: 686] +05/26 19:58:07 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 19:58:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 19:58:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 19:58:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 19:58:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 19:58:07 INFO: [Worker 0] Sampled task 'Pick up the circular gold ornate openwork ornament and place it next to the shiny gold vase' [task_sampler.py: 1136] +05/26 19:58:07 INFO: [Worker 0] Worker 0 house 628 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 19:58:07 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 19:58:07 WARNING: [Worker 0] Could not find object objaturbinewheel_95bbc607d38d4865b6d9618799710335_1_0_4 in scene [object_manager.py: 1238] +05/26 19:58:07 WARNING: [Worker 0] Could not find object objabeltbuckle_74aa04de731f4b0a9c8dda34e07e1266_1_0_4 in scene [object_manager.py: 1238] +05/26 19:58:07 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene [object_manager.py: 1238] +05/26 19:58:07 WARNING: [Worker 0] Could not find object objadecorativewallart_41ab3efe80974302bff69de2400e67bc_1_0_9 in scene [object_manager.py: 1238] +05/26 19:59:42 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 20:13:16 INFO: [Worker 0] Worker 0 house 628 episode 0 object objadecorativefixture_e14a2e218f6e4a588489e4b5508bff5e_1_0_4 completed with success=False [pipeline.py: 1114] +05/26 20:13:19 INFO: [Worker 0] Batching and saving trajectory data for house_628: 1 episodes [pipeline.py: 233] +05/26 20:13:19 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 20:13:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 20:13:22 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_628 [save_utils.py: 703] +05/26 20:13:22 INFO: [Worker 0] Successfully saved trajectory data for house_628 in 2.76s (batch: 2.68s, save: 0.09s) [pipeline.py: 280] +05/26 20:13:23 WARNING: [Worker 0] No trajectory data to save for house_628 [pipeline.py: 229] +05/26 20:13:23 INFO: [Worker 0] Worker 0 completed house 628: 0/1 successful episodes [pipeline.py: 1243] +05/26 20:13:23 INFO: [Worker 0] Worker 0 starting house 699 (index 2/114) [pipeline.py: 473] +05/26 20:13:23 INFO: [Worker 0] Loaded 1 episodes for house 699 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/26 20:13:23 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 20:13:42 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/26 20:13:45 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_699_ceiling.xml [task_sampler.py: 797] +05/26 20:13:45 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=699, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 20:13:45 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 20:13:45 INFO: [Worker 0] randomize_scene: Setting poses for 68 objects [json_eval_task_sampler.py: 686] +05/26 20:13:45 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 20:13:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 20:13:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 20:13:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 20:13:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 20:13:46 INFO: [Worker 0] Sampled task 'Pick up the gray polished human hand statue and place it next to the large black hardcover book titled noughts' [task_sampler.py: 1136] +05/26 20:13:46 INFO: [Worker 0] Worker 0 house 699 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 20:13:46 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 20:13:46 WARNING: [Worker 0] Could not find object objaceilingpanel_8bde878be8dd4fb7b6914db9c4dd31bb_1_0_9 in scene [object_manager.py: 1238] +05/26 20:15:13 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 20:28:23 INFO: [Worker 0] Worker 0 house 699 episode 0 object statue_e2da6cf9030ad270d01ac0fa5001917f_1_0_4 completed with success=False [pipeline.py: 1114] +05/26 20:28:28 INFO: [Worker 0] Batching and saving trajectory data for house_699: 1 episodes [pipeline.py: 233] +05/26 20:28:28 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 20:28:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 20:28:31 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_699 [save_utils.py: 703] +05/26 20:28:31 INFO: [Worker 0] Successfully saved trajectory data for house_699 in 2.97s (batch: 2.88s, save: 0.09s) [pipeline.py: 280] +05/26 20:28:31 WARNING: [Worker 0] No trajectory data to save for house_699 [pipeline.py: 229] +05/26 20:28:31 INFO: [Worker 0] Worker 0 completed house 699: 0/1 successful episodes [pipeline.py: 1243] +05/26 20:28:31 INFO: [Worker 0] Worker 0 starting house 744 (index 3/114) [pipeline.py: 473] +05/26 20:28:31 INFO: [Worker 0] Loaded 1 episodes for house 744 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/26 20:28:31 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 20:28:37 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_744_ceiling.xml [task_sampler.py: 797] +05/26 20:28:37 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=744, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 20:28:37 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 20:28:37 INFO: [Worker 0] randomize_scene: Setting poses for 28 objects [json_eval_task_sampler.py: 686] +05/26 20:28:37 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 20:28:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 20:28:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 20:28:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 20:28:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 20:28:37 INFO: [Worker 0] Sampled task 'Pick up the gas torch and place it next to the white and teal instant camera' [task_sampler.py: 1136] +05/26 20:28:37 INFO: [Worker 0] Worker 0 house 744 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 20:28:37 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 20:30:09 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 20:38:27 INFO: [Worker 0] Worker 0 house 744 episode 0 object objagastorch_9d24aac8a4c444a1b440647aa6f96438_2_0_6 completed with success=False [pipeline.py: 1114] +05/26 20:38:31 INFO: [Worker 0] Batching and saving trajectory data for house_744: 1 episodes [pipeline.py: 233] +05/26 20:38:31 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 20:38:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 20:38:34 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_744 [save_utils.py: 703] +05/26 20:38:34 INFO: [Worker 0] Successfully saved trajectory data for house_744 in 2.95s (batch: 2.86s, save: 0.09s) [pipeline.py: 280] +05/26 20:38:34 WARNING: [Worker 0] No trajectory data to save for house_744 [pipeline.py: 229] +05/26 20:38:34 INFO: [Worker 0] Worker 0 completed house 744: 0/1 successful episodes [pipeline.py: 1243] +05/26 20:38:34 INFO: [Worker 0] Worker 0 starting house 803 (index 4/114) [pipeline.py: 473] +05/26 20:38:34 INFO: [Worker 0] Loaded 1 episodes for house 803 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/26 20:38:34 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 20:39:04 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_803_ceiling.xml [task_sampler.py: 797] +05/26 20:39:04 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=803, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 20:39:04 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 20:39:04 INFO: [Worker 0] randomize_scene: Setting poses for 41 objects [json_eval_task_sampler.py: 686] +05/26 20:39:04 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 20:39:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 20:39:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 20:39:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 20:39:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 20:39:04 INFO: [Worker 0] Sampled task 'Pick up the sleek turquoise tape dispenser with base and place it next to the black paint can' [task_sampler.py: 1136] +05/26 20:39:04 INFO: [Worker 0] Worker 0 house 803 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 20:39:04 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 20:50:05 INFO: [Worker 0] Worker 0 house 803 episode 0 object objatapedispenser_2988a85fdf0f4a679b17335bd8e26871_1_0_5 completed with success=False [pipeline.py: 1114] +05/26 20:50:09 INFO: [Worker 0] Batching and saving trajectory data for house_803: 1 episodes [pipeline.py: 233] +05/26 20:50:09 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 20:50:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 20:50:12 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_803 [save_utils.py: 703] +05/26 20:50:12 INFO: [Worker 0] Successfully saved trajectory data for house_803 in 2.87s (batch: 2.78s, save: 0.09s) [pipeline.py: 280] +05/26 20:50:13 WARNING: [Worker 0] No trajectory data to save for house_803 [pipeline.py: 229] +05/26 20:50:13 INFO: [Worker 0] Worker 0 completed house 803: 0/1 successful episodes [pipeline.py: 1243] +05/26 20:50:13 INFO: [Worker 0] Worker 0 starting house 884 (index 5/114) [pipeline.py: 473] +05/26 20:50:13 INFO: [Worker 0] Loaded 1 episodes for house 884 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/26 20:50:13 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 20:50:33 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_884_ceiling.xml [task_sampler.py: 797] +05/26 20:50:33 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=884, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 20:50:33 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 20:50:33 INFO: [Worker 0] randomize_scene: Setting poses for 79 objects [json_eval_task_sampler.py: 686] +05/26 20:50:33 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 20:50:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 20:50:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 20:50:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 20:50:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 20:50:33 INFO: [Worker 0] Sampled task 'Pick up the blue can and place it next to the blue soap bottle with pump' [task_sampler.py: 1136] +05/26 20:50:33 INFO: [Worker 0] Worker 0 house 884 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 20:50:33 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 20:50:33 WARNING: [Worker 0] Could not find object objaaircraftmodel_af978d4fc4f6450a8108f62cd11941b8_1_0_6 in scene [object_manager.py: 1238] +05/26 20:50:33 WARNING: [Worker 0] Could not find object objaprintedcircuitboard_dd07a5351c854a02bb6def55164023dd_1_0_6 in scene [object_manager.py: 1238] +05/26 21:09:26 INFO: [Worker 0] Worker 0 house 884 episode 0 object objaspraycan_761fd13227bd411a9a10d9ecae0e6b8d_1_0_5 completed with success=False [pipeline.py: 1114] +05/26 21:09:30 INFO: [Worker 0] Batching and saving trajectory data for house_884: 1 episodes [pipeline.py: 233] +05/26 21:09:30 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 21:09:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 21:09:33 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_884 [save_utils.py: 703] +05/26 21:09:33 INFO: [Worker 0] Successfully saved trajectory data for house_884 in 2.80s (batch: 2.71s, save: 0.09s) [pipeline.py: 280] +05/26 21:09:34 WARNING: [Worker 0] No trajectory data to save for house_884 [pipeline.py: 229] +05/26 21:09:34 INFO: [Worker 0] Worker 0 completed house 884: 0/1 successful episodes [pipeline.py: 1243] +05/26 21:09:34 INFO: [Worker 0] Worker 0 starting house 988 (index 6/114) [pipeline.py: 473] +05/26 21:09:34 INFO: [Worker 0] Loaded 1 episodes for house 988 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/26 21:09:34 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 21:10:02 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/26 21:10:04 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_988_ceiling.xml [task_sampler.py: 797] +05/26 21:10:04 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=988, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 21:10:04 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 21:10:04 INFO: [Worker 0] randomize_scene: Setting poses for 41 objects [json_eval_task_sampler.py: 686] +05/26 21:10:04 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 21:10:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 21:10:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 21:10:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 21:10:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 21:10:04 INFO: [Worker 0] Sampled task 'Pick up the circular stone disc with hole and place it next to the bronze full-figured statue' [task_sampler.py: 1136] +05/26 21:10:04 INFO: [Worker 0] Worker 0 house 988 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 21:10:04 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 21:10:05 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene [object_manager.py: 1238] +05/26 21:11:33 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 21:22:37 INFO: [Worker 0] Worker 0 house 988 episode 0 object objastonedisc_bb31ba58de6e457aa1251a63ede16de2_1_0_8 completed with success=False [pipeline.py: 1114] +05/26 21:22:41 INFO: [Worker 0] Batching and saving trajectory data for house_988: 1 episodes [pipeline.py: 233] +05/26 21:22:41 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 21:22:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 21:22:43 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_988 [save_utils.py: 703] +05/26 21:22:43 INFO: [Worker 0] Successfully saved trajectory data for house_988 in 2.85s (batch: 2.76s, save: 0.09s) [pipeline.py: 280] +05/26 21:22:44 WARNING: [Worker 0] No trajectory data to save for house_988 [pipeline.py: 229] +05/26 21:22:44 INFO: [Worker 0] Worker 0 completed house 988: 0/1 successful episodes [pipeline.py: 1243] +05/26 21:22:44 INFO: [Worker 0] Worker 0 starting house 1065 (index 7/114) [pipeline.py: 473] +05/26 21:22:44 INFO: [Worker 0] Loaded 1 episodes for house 1065 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/26 21:22:44 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 21:22:49 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1065_ceiling.xml [task_sampler.py: 797] +05/26 21:22:49 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1065, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 21:22:49 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 21:22:49 INFO: [Worker 0] randomize_scene: Setting poses for 77 objects [json_eval_task_sampler.py: 686] +05/26 21:22:49 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 21:22:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 21:22:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 21:22:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 21:22:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 21:22:49 INFO: [Worker 0] Sampled task 'Pick up the circular stone disc with hole and place it next to the small glossy turquoise eye of horus amulet' [task_sampler.py: 1136] +05/26 21:22:49 INFO: [Worker 0] Worker 0 house 1065 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 21:22:49 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 21:24:21 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 21:38:25 INFO: [Worker 0] Worker 0 house 1065 episode 0 object objastonedisc_bb31ba58de6e457aa1251a63ede16de2_1_0_4 completed with success=False [pipeline.py: 1114] +05/26 21:38:29 INFO: [Worker 0] Batching and saving trajectory data for house_1065: 1 episodes [pipeline.py: 233] +05/26 21:38:29 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 21:38:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 21:38:31 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1065 [save_utils.py: 703] +05/26 21:38:31 INFO: [Worker 0] Successfully saved trajectory data for house_1065 in 2.82s (batch: 2.73s, save: 0.09s) [pipeline.py: 280] +05/26 21:38:32 WARNING: [Worker 0] No trajectory data to save for house_1065 [pipeline.py: 229] +05/26 21:38:32 INFO: [Worker 0] Worker 0 completed house 1065: 0/1 successful episodes [pipeline.py: 1243] +05/26 21:38:32 INFO: [Worker 0] Worker 0 starting house 1184 (index 8/114) [pipeline.py: 473] +05/26 21:38:32 INFO: [Worker 0] Loaded 1 episodes for house 1184 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/26 21:38:32 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 21:38:39 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1184_ceiling.xml [task_sampler.py: 797] +05/26 21:38:39 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1184, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 21:38:39 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 21:38:39 INFO: [Worker 0] randomize_scene: Setting poses for 20 objects [json_eval_task_sampler.py: 686] +05/26 21:38:39 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 21:38:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 21:38:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 21:38:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 21:38:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 21:38:39 INFO: [Worker 0] Sampled task 'Pick up the rustic round clay dish with handles and place it next to the transparent tall wine glass' [task_sampler.py: 1136] +05/26 21:38:39 INFO: [Worker 0] Worker 0 house 1184 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 21:38:39 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 21:40:15 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 21:45:34 INFO: [Worker 0] Worker 0 house 1184 episode 0 object objaclaydish_fb56f8968a9c443897498a9ccf5c46d1_1_0_2 completed with success=False [pipeline.py: 1114] +05/26 21:45:38 INFO: [Worker 0] Batching and saving trajectory data for house_1184: 1 episodes [pipeline.py: 233] +05/26 21:45:38 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 21:45:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 21:45:40 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1184 [save_utils.py: 703] +05/26 21:45:40 INFO: [Worker 0] Successfully saved trajectory data for house_1184 in 2.87s (batch: 2.78s, save: 0.09s) [pipeline.py: 280] +05/26 21:45:41 WARNING: [Worker 0] No trajectory data to save for house_1184 [pipeline.py: 229] +05/26 21:45:41 INFO: [Worker 0] Worker 0 completed house 1184: 0/1 successful episodes [pipeline.py: 1243] +05/26 21:45:41 INFO: [Worker 0] Worker 0 starting house 1265 (index 9/114) [pipeline.py: 473] +05/26 21:45:41 INFO: [Worker 0] Loaded 1 episodes for house 1265 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/26 21:45:41 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 21:46:03 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1265_ceiling.xml [task_sampler.py: 797] +05/26 21:46:03 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1265, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 21:46:03 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 21:46:03 INFO: [Worker 0] randomize_scene: Setting poses for 63 objects [json_eval_task_sampler.py: 686] +05/26 21:46:03 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 21:46:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 21:46:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 21:46:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 21:46:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 21:46:03 INFO: [Worker 0] Sampled task 'Pick up the red u-shaped magnet and place it next to the smooth green rectangular pillow cushion' [task_sampler.py: 1136] +05/26 21:46:03 INFO: [Worker 0] Worker 0 house 1265 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 21:46:03 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 21:46:03 WARNING: [Worker 0] Could not find object objatoiletpaperroll_e1cf65984fff46168396e0b74861f845_1_0_7 in scene [object_manager.py: 1238] +05/26 21:46:03 WARNING: [Worker 0] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_7 in scene [object_manager.py: 1238] +05/26 21:47:34 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 21:59:11 INFO: [Worker 0] Worker 0 house 1265 episode 0 object objamagnet_a734ce1339d44d2fbad906439777be78_1_0_9 completed with success=False [pipeline.py: 1114] +05/26 21:59:14 INFO: [Worker 0] Batching and saving trajectory data for house_1265: 1 episodes [pipeline.py: 233] +05/26 21:59:14 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 21:59:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 21:59:17 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1265 [save_utils.py: 703] +05/26 21:59:17 INFO: [Worker 0] Successfully saved trajectory data for house_1265 in 2.26s (batch: 2.14s, save: 0.12s) [pipeline.py: 280] +05/26 21:59:17 WARNING: [Worker 0] No trajectory data to save for house_1265 [pipeline.py: 229] +05/26 21:59:17 INFO: [Worker 0] Worker 0 completed house 1265: 0/1 successful episodes [pipeline.py: 1243] +05/26 21:59:17 INFO: [Worker 0] Worker 0 starting house 1339 (index 10/114) [pipeline.py: 473] +05/26 21:59:17 INFO: [Worker 0] Loaded 1 episodes for house 1339 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/26 21:59:17 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 21:59:39 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1339_ceiling.xml [task_sampler.py: 797] +05/26 21:59:39 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1339, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 21:59:39 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 21:59:39 INFO: [Worker 0] randomize_scene: Setting poses for 8 objects [json_eval_task_sampler.py: 686] +05/26 21:59:39 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 21:59:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 21:59:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 21:59:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 21:59:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 21:59:39 INFO: [Worker 0] Sampled task 'Pick up the gray metal bolt and place it next to the simple light brown ceramic bowl' [task_sampler.py: 1136] +05/26 21:59:39 INFO: [Worker 0] Worker 0 house 1339 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 21:59:39 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 22:01:14 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 22:06:55 INFO: [Worker 0] Worker 0 house 1339 episode 0 object objabolt_4f48638f93984ef0a7e6cfc6cc1e08f2_1_0_2 completed with success=False [pipeline.py: 1114] +05/26 22:06:59 INFO: [Worker 0] Batching and saving trajectory data for house_1339: 1 episodes [pipeline.py: 233] +05/26 22:06:59 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 22:07:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 22:07:02 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1339 [save_utils.py: 703] +05/26 22:07:02 INFO: [Worker 0] Successfully saved trajectory data for house_1339 in 2.79s (batch: 2.70s, save: 0.09s) [pipeline.py: 280] +05/26 22:07:03 WARNING: [Worker 0] No trajectory data to save for house_1339 [pipeline.py: 229] +05/26 22:07:03 INFO: [Worker 0] Worker 0 completed house 1339: 0/1 successful episodes [pipeline.py: 1243] +05/26 22:07:03 INFO: [Worker 0] Worker 0 starting house 1415 (index 11/114) [pipeline.py: 473] +05/26 22:07:03 INFO: [Worker 0] Loaded 1 episodes for house 1415 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/26 22:07:03 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 22:07:32 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1415_ceiling.xml [task_sampler.py: 797] +05/26 22:07:32 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1415, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 22:07:32 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 22:07:32 INFO: [Worker 0] randomize_scene: Setting poses for 63 objects [json_eval_task_sampler.py: 686] +05/26 22:07:32 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 22:07:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 22:07:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 22:07:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 22:07:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 22:07:33 INFO: [Worker 0] Sampled task 'Pick up the clothes iron and place it next to the rusty adjustable metal wrench' [task_sampler.py: 1136] +05/26 22:07:33 INFO: [Worker 0] Worker 0 house 1415 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 22:07:33 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 22:07:33 WARNING: [Worker 0] Could not find object objafoil_1c043fb628124513b30a2d7d3ba26bac_1_0_5 in scene [object_manager.py: 1238] +05/26 22:07:33 WARNING: [Worker 0] Could not find object atomizer_834d386e080077accc22e6eae5471528_1_0_5 in scene [object_manager.py: 1238] +05/26 22:09:07 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 22:21:59 INFO: [Worker 0] Worker 0 house 1415 episode 0 object objaclothesiron_586af9dfd18d4244a46f5e5e0a474be6_1_0_8 completed with success=False [pipeline.py: 1114] +05/26 22:22:03 INFO: [Worker 0] Batching and saving trajectory data for house_1415: 1 episodes [pipeline.py: 233] +05/26 22:22:03 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 22:22:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 22:22:06 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1415 [save_utils.py: 703] +05/26 22:22:06 INFO: [Worker 0] Successfully saved trajectory data for house_1415 in 2.89s (batch: 2.80s, save: 0.09s) [pipeline.py: 280] +05/26 22:22:06 WARNING: [Worker 0] No trajectory data to save for house_1415 [pipeline.py: 229] +05/26 22:22:06 INFO: [Worker 0] Worker 0 completed house 1415: 0/1 successful episodes [pipeline.py: 1243] +05/26 22:22:06 INFO: [Worker 0] Worker 0 starting house 1552 (index 12/114) [pipeline.py: 473] +05/26 22:22:06 INFO: [Worker 0] Loaded 1 episodes for house 1552 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/26 22:22:06 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 22:22:12 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1552_ceiling.xml [task_sampler.py: 797] +05/26 22:22:12 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1552, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 22:22:12 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 22:22:12 INFO: [Worker 0] randomize_scene: Setting poses for 72 objects [json_eval_task_sampler.py: 686] +05/26 22:22:12 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 22:22:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 22:22:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 22:22:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 22:22:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 22:22:12 INFO: [Worker 0] Sampled task 'Pick up the vintage brown leather helmet and place it next to the pink and black toy sniper rifle' [task_sampler.py: 1136] +05/26 22:22:12 INFO: [Worker 0] Worker 0 house 1552 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 22:22:12 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 22:22:12 WARNING: [Worker 0] Could not find object objalantern_be2f9b16082544e2ac5f9f54a3d8eebc_1_0_7 in scene [object_manager.py: 1238] +05/26 22:22:12 WARNING: [Worker 0] Could not find object objaartifact_3d4e113786854a1abfd0b00d141ca9e3_1_0_7 in scene [object_manager.py: 1238] +05/26 22:38:18 INFO: [Worker 0] Worker 0 house 1552 episode 0 object objaaviatorhelmet_1c5917c1e9d147a984725886fc917ea7_1_0_9 completed with success=False [pipeline.py: 1114] +05/26 22:38:22 INFO: [Worker 0] Batching and saving trajectory data for house_1552: 1 episodes [pipeline.py: 233] +05/26 22:38:22 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 22:38:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 22:38:25 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1552 [save_utils.py: 703] +05/26 22:38:25 INFO: [Worker 0] Successfully saved trajectory data for house_1552 in 2.89s (batch: 2.80s, save: 0.09s) [pipeline.py: 280] +05/26 22:38:26 WARNING: [Worker 0] No trajectory data to save for house_1552 [pipeline.py: 229] +05/26 22:38:26 INFO: [Worker 0] Worker 0 completed house 1552: 0/1 successful episodes [pipeline.py: 1243] +05/26 22:38:26 INFO: [Worker 0] Worker 0 starting house 1667 (index 13/114) [pipeline.py: 473] +05/26 22:38:26 INFO: [Worker 0] Loaded 1 episodes for house 1667 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/26 22:38:26 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 22:39:17 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1667_ceiling.xml [task_sampler.py: 797] +05/26 22:39:17 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1667, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 22:39:17 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 22:39:17 INFO: [Worker 0] randomize_scene: Setting poses for 82 objects [json_eval_task_sampler.py: 686] +05/26 22:39:17 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 22:39:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 22:39:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 22:39:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 22:39:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 22:39:17 INFO: [Worker 0] Sampled task 'Pick up the gold and white cross medal and place it next to the light blue plastic bottle' [task_sampler.py: 1136] +05/26 22:39:17 INFO: [Worker 0] Worker 0 house 1667 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 22:39:18 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 22:39:18 WARNING: [Worker 0] Could not find object objamedicalmask_b52524319c70458db1c3a78f9c096afe_1_0_9 in scene [object_manager.py: 1238] +05/26 22:39:18 WARNING: [Worker 0] Could not find object objaheadband_d49545a5b65a40bcade1370176d8950a_1_0_9 in scene [object_manager.py: 1238] +05/26 22:40:51 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 22:56:33 INFO: [Worker 0] Worker 0 house 1667 episode 0 object objamedal_4d3a363b65fc4ace9d01178a16337840_1_0_2 completed with success=False [pipeline.py: 1114] +05/26 22:56:37 INFO: [Worker 0] Batching and saving trajectory data for house_1667: 1 episodes [pipeline.py: 233] +05/26 22:56:37 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 22:56:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 22:56:39 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1667 [save_utils.py: 703] +05/26 22:56:39 INFO: [Worker 0] Successfully saved trajectory data for house_1667 in 2.81s (batch: 2.73s, save: 0.09s) [pipeline.py: 280] +05/26 22:56:40 WARNING: [Worker 0] No trajectory data to save for house_1667 [pipeline.py: 229] +05/26 22:56:40 INFO: [Worker 0] Worker 0 completed house 1667: 0/1 successful episodes [pipeline.py: 1243] +05/26 22:56:40 INFO: [Worker 0] Worker 0 starting house 1734 (index 14/114) [pipeline.py: 473] +05/26 22:56:40 INFO: [Worker 0] Loaded 1 episodes for house 1734 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/26 22:56:40 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 22:57:02 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1734_ceiling.xml [task_sampler.py: 797] +05/26 22:57:02 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1734, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 22:57:02 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 22:57:02 INFO: [Worker 0] randomize_scene: Setting poses for 54 objects [json_eval_task_sampler.py: 686] +05/26 22:57:02 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 22:57:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 22:57:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 22:57:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 22:57:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 22:57:02 INFO: [Worker 0] Sampled task 'Pick up the dark gray matte bowl with ridges and place it next to the glossy yellow vase rounded' [task_sampler.py: 1136] +05/26 22:57:02 INFO: [Worker 0] Worker 0 house 1734 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 22:57:02 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 22:57:02 WARNING: [Worker 0] Could not find object objamechanicalpencil_5807b5f6ebcf4dc1b731c6907b180af7_1_0_7 in scene [object_manager.py: 1238] +05/26 22:57:02 WARNING: [Worker 0] Could not find object bowl_ab2df3cd7ba6e36f1f725f462a622119_1_0_7 in scene [object_manager.py: 1238] +05/26 22:58:39 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 23:10:06 INFO: [Worker 0] Worker 0 house 1734 episode 0 object bowl_847a24bfa9d8b1a1f26661ebbb850f56_1_0_4 completed with success=False [pipeline.py: 1114] +05/26 23:10:09 INFO: [Worker 0] Batching and saving trajectory data for house_1734: 1 episodes [pipeline.py: 233] +05/26 23:10:09 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 23:10:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 23:10:11 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1734 [save_utils.py: 703] +05/26 23:10:11 INFO: [Worker 0] Successfully saved trajectory data for house_1734 in 2.25s (batch: 2.16s, save: 0.09s) [pipeline.py: 280] +05/26 23:10:12 WARNING: [Worker 0] No trajectory data to save for house_1734 [pipeline.py: 229] +05/26 23:10:12 INFO: [Worker 0] Worker 0 completed house 1734: 0/1 successful episodes [pipeline.py: 1243] +05/26 23:10:12 INFO: [Worker 0] Worker 0 starting house 1793 (index 15/114) [pipeline.py: 473] +05/26 23:10:12 INFO: [Worker 0] Loaded 1 episodes for house 1793 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/26 23:10:12 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 23:10:30 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1793_ceiling.xml [task_sampler.py: 797] +05/26 23:10:30 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1793, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 23:10:30 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 23:10:30 INFO: [Worker 0] randomize_scene: Setting poses for 72 objects [json_eval_task_sampler.py: 686] +05/26 23:10:30 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 23:10:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 23:10:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 23:10:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 23:10:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 23:10:30 INFO: [Worker 0] Sampled task 'Pick up the irregular pale off-white rawhide piece and place it next to the miniature tall column with golden statue' [task_sampler.py: 1136] +05/26 23:10:30 INFO: [Worker 0] Worker 0 house 1793 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 23:10:30 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 23:10:30 WARNING: [Worker 0] Could not find object objaminiaturelighthouse_3b5644ae7c3544088d92af4f43b3fb9a_1_0_5 in scene [object_manager.py: 1238] +05/26 23:10:30 WARNING: [Worker 0] Could not find object objatissuebox_65d3d9a616c544f2b57f91c23ce4d68b_1_0_6 in scene [object_manager.py: 1238] +05/26 23:12:09 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 23:27:00 INFO: [Worker 0] Worker 0 house 1793 episode 0 object objarawhide_45af38b66555426a8c719a7507a35930_1_0_2 completed with success=False [pipeline.py: 1114] +05/26 23:27:03 INFO: [Worker 0] Batching and saving trajectory data for house_1793: 1 episodes [pipeline.py: 233] +05/26 23:27:03 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 23:27:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 23:27:05 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1793 [save_utils.py: 703] +05/26 23:27:05 INFO: [Worker 0] Successfully saved trajectory data for house_1793 in 2.29s (batch: 2.19s, save: 0.09s) [pipeline.py: 280] +05/26 23:27:05 WARNING: [Worker 0] No trajectory data to save for house_1793 [pipeline.py: 229] +05/26 23:27:05 INFO: [Worker 0] Worker 0 completed house 1793: 0/1 successful episodes [pipeline.py: 1243] +05/26 23:27:05 INFO: [Worker 0] Worker 0 starting house 1916 (index 16/114) [pipeline.py: 473] +05/26 23:27:05 INFO: [Worker 0] Loaded 1 episodes for house 1916 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/26 23:27:05 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 23:27:12 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1916_ceiling.xml [task_sampler.py: 797] +05/26 23:27:12 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1916, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 23:27:12 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 23:27:12 INFO: [Worker 0] randomize_scene: Setting poses for 85 objects [json_eval_task_sampler.py: 686] +05/26 23:27:12 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 23:27:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 23:27:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 23:27:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 23:27:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 23:27:12 INFO: [Worker 0] Sampled task 'Pick up the blue pcb and place it next to the soft orange plaid pillow cushion' [task_sampler.py: 1136] +05/26 23:27:12 INFO: [Worker 0] Worker 0 house 1916 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 23:27:12 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 23:27:12 WARNING: [Worker 0] Could not find object objadecorativekey_026dfb57bcb5406688a7b20dfbecc6c2_1_0_5 in scene [object_manager.py: 1238] +05/26 23:36:36 INFO: [Worker 0] Worker 0 house 1916 episode 0 object objaprintedcircuitboard_0c1eb50df8de4c2d9d4d694014204d86_2_0_3 completed with success=False [pipeline.py: 1114] +05/26 23:36:39 INFO: [Worker 0] Batching and saving trajectory data for house_1916: 1 episodes [pipeline.py: 233] +05/26 23:36:39 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 23:36:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 23:36:41 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1916 [save_utils.py: 703] +05/26 23:36:41 INFO: [Worker 0] Successfully saved trajectory data for house_1916 in 2.27s (batch: 2.18s, save: 0.09s) [pipeline.py: 280] +05/26 23:36:42 WARNING: [Worker 0] No trajectory data to save for house_1916 [pipeline.py: 229] +05/26 23:36:42 INFO: [Worker 0] Worker 0 completed house 1916: 0/1 successful episodes [pipeline.py: 1243] +05/26 23:36:42 INFO: [Worker 0] Worker 0 starting house 2025 (index 17/114) [pipeline.py: 473] +05/26 23:36:42 INFO: [Worker 0] Loaded 1 episodes for house 2025 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/26 23:36:42 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 23:38:23 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2025_ceiling.xml [task_sampler.py: 797] +05/26 23:38:23 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2025, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 23:38:23 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 23:38:23 INFO: [Worker 0] randomize_scene: Setting poses for 39 objects [json_eval_task_sampler.py: 686] +05/26 23:38:23 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 23:38:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 23:38:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 23:38:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 23:38:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 23:38:23 INFO: [Worker 0] Sampled task 'Pick up the tall cream colored candle and place it next to the green plastic spray bottle with nozzle' [task_sampler.py: 1136] +05/26 23:38:23 INFO: [Worker 0] Worker 0 house 2025 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 23:38:23 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 23:39:59 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 23:47:53 INFO: [Worker 0] Worker 0 house 2025 episode 0 object objacandle_5db8644a217c4525a89b5d6bc42265e9_1_0_5 completed with success=False [pipeline.py: 1114] +05/26 23:47:56 INFO: [Worker 0] Batching and saving trajectory data for house_2025: 1 episodes [pipeline.py: 233] +05/26 23:47:56 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 23:47:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 23:47:59 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2025 [save_utils.py: 703] +05/26 23:47:59 INFO: [Worker 0] Successfully saved trajectory data for house_2025 in 2.25s (batch: 2.16s, save: 0.09s) [pipeline.py: 280] +05/26 23:47:59 WARNING: [Worker 0] No trajectory data to save for house_2025 [pipeline.py: 229] +05/26 23:47:59 INFO: [Worker 0] Worker 0 completed house 2025: 0/1 successful episodes [pipeline.py: 1243] +05/26 23:47:59 INFO: [Worker 0] Worker 0 starting house 2094 (index 18/114) [pipeline.py: 473] +05/26 23:47:59 INFO: [Worker 0] Loaded 1 episodes for house 2094 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/26 23:47:59 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 23:48:56 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/26 23:49:02 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2094_ceiling.xml [task_sampler.py: 797] +05/26 23:49:02 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2094, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 23:49:02 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 23:49:02 INFO: [Worker 0] randomize_scene: Setting poses for 124 objects [json_eval_task_sampler.py: 686] +05/26 23:49:02 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 23:49:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 23:49:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 23:49:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 23:49:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 23:49:02 INFO: [Worker 0] Sampled task 'Pick up the ancient greek black cup and place it next to the rectangular yellow plaid pillow' [task_sampler.py: 1136] +05/26 23:49:02 INFO: [Worker 0] Worker 0 house 2094 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 23:49:02 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 23:49:02 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene [object_manager.py: 1238] +05/26 23:55:30 INFO: [Worker 0] Worker 0 house 2094 episode 0 object objakylix_d9cc347595664f83bc1461c857756452_1_0_8 completed with success=True [pipeline.py: 1114] +05/26 23:55:33 INFO: [Worker 0] Batching and saving trajectory data for house_2094: 1 episodes [pipeline.py: 233] +05/26 23:55:33 INFO: [Worker 0] Preparing episode data: 171 timesteps [save_utils.py: 284] +05/26 23:55:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 23:55:35 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2094 [save_utils.py: 703] +05/26 23:55:35 INFO: [Worker 0] Successfully saved trajectory data for house_2094 in 2.06s (batch: 2.01s, save: 0.05s) [pipeline.py: 280] +05/26 23:55:35 WARNING: [Worker 0] No trajectory data to save for house_2094 [pipeline.py: 229] +05/26 23:55:35 INFO: [Worker 0] Worker 0 completed house 2094: 1/1 successful episodes [pipeline.py: 1243] +05/26 23:55:35 INFO: [Worker 0] Worker 0 starting house 2201 (index 19/114) [pipeline.py: 473] +05/26 23:55:35 INFO: [Worker 0] Loaded 1 episodes for house 2201 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/26 23:55:35 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 00:02:17 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2201_ceiling.xml [task_sampler.py: 797] +05/27 00:02:17 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2201, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 00:02:17 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 00:02:17 INFO: [Worker 0] randomize_scene: Setting poses for 24 objects [json_eval_task_sampler.py: 686] +05/27 00:02:17 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 00:02:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 00:02:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 00:02:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 00:02:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 00:02:17 INFO: [Worker 0] Sampled task 'Pick up the black grenade with red panels and place it next to the sharp black knife' [task_sampler.py: 1136] +05/27 00:02:17 INFO: [Worker 0] Worker 0 house 2201 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 00:02:17 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 00:09:51 INFO: [Worker 0] Worker 0 house 2201 episode 0 object objagrenade_2fade8f2122d4af5b473cc42ddcb1319_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 00:09:54 INFO: [Worker 0] Batching and saving trajectory data for house_2201: 1 episodes [pipeline.py: 233] +05/27 00:09:54 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 00:09:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 00:09:57 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2201 [save_utils.py: 703] +05/27 00:09:57 INFO: [Worker 0] Successfully saved trajectory data for house_2201 in 2.73s (batch: 2.64s, save: 0.09s) [pipeline.py: 280] +05/27 00:09:58 WARNING: [Worker 0] No trajectory data to save for house_2201 [pipeline.py: 229] +05/27 00:09:58 INFO: [Worker 0] Worker 0 completed house 2201: 0/1 successful episodes [pipeline.py: 1243] +05/27 00:09:58 INFO: [Worker 0] Worker 0 starting house 2331 (index 20/114) [pipeline.py: 473] +05/27 00:09:58 INFO: [Worker 0] Loaded 1 episodes for house 2331 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 00:09:58 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 00:10:21 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2331_ceiling.xml [task_sampler.py: 797] +05/27 00:10:21 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2331, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 00:10:21 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 00:10:21 INFO: [Worker 0] randomize_scene: Setting poses for 11 objects [json_eval_task_sampler.py: 686] +05/27 00:10:21 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 00:10:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 00:10:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 00:10:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 00:10:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 00:10:21 INFO: [Worker 0] Sampled task 'Pick up the colorful ceramic decorative bowl and place it next to the black fish with fins' [task_sampler.py: 1136] +05/27 00:10:21 INFO: [Worker 0] Worker 0 house 2331 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 00:10:21 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 00:12:02 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 00:16:47 INFO: [Worker 0] Worker 0 house 2331 episode 0 object objadecorativebowl_906fdc79f5d84e8e8b3b467e794a8c00_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 00:16:51 INFO: [Worker 0] Batching and saving trajectory data for house_2331: 1 episodes [pipeline.py: 233] +05/27 00:16:51 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 00:16:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 00:16:54 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2331 [save_utils.py: 703] +05/27 00:16:54 INFO: [Worker 0] Successfully saved trajectory data for house_2331 in 2.88s (batch: 2.79s, save: 0.09s) [pipeline.py: 280] +05/27 00:16:54 WARNING: [Worker 0] No trajectory data to save for house_2331 [pipeline.py: 229] +05/27 00:16:54 INFO: [Worker 0] Worker 0 completed house 2331: 0/1 successful episodes [pipeline.py: 1243] +05/27 00:16:54 INFO: [Worker 0] Worker 0 starting house 2434 (index 21/114) [pipeline.py: 473] +05/27 00:16:54 INFO: [Worker 0] Loaded 1 episodes for house 2434 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 00:16:54 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 00:17:23 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2434_ceiling.xml [task_sampler.py: 797] +05/27 00:17:23 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2434, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 00:17:23 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 00:17:23 INFO: [Worker 0] randomize_scene: Setting poses for 88 objects [json_eval_task_sampler.py: 686] +05/27 00:17:23 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 00:17:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 00:17:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 00:17:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 00:17:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 00:17:23 INFO: [Worker 0] Sampled task 'Pick up the compact camouflage weapon sight with reticle and place it next to the muscular dark glossy statue standing' [task_sampler.py: 1136] +05/27 00:17:23 INFO: [Worker 0] Worker 0 house 2434 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 00:17:23 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 00:17:23 WARNING: [Worker 0] Could not find object objascifiprop_5026a368dea643a38510c9c0556c8160_1_0_8 in scene [object_manager.py: 1238] +05/27 00:17:23 WARNING: [Worker 0] Could not find object objaportableradio_4ce29893e26c4f9f9495708b6962f965_1_0_8 in scene [object_manager.py: 1238] +05/27 00:18:58 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 00:36:05 INFO: [Worker 0] Worker 0 house 2434 episode 0 object objaweaponsight_a7323938c943423a8a7adb8656b0168f_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 00:36:08 INFO: [Worker 0] Batching and saving trajectory data for house_2434: 1 episodes [pipeline.py: 233] +05/27 00:36:08 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 00:36:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 00:36:10 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2434 [save_utils.py: 703] +05/27 00:36:10 INFO: [Worker 0] Successfully saved trajectory data for house_2434 in 2.21s (batch: 2.12s, save: 0.09s) [pipeline.py: 280] +05/27 00:36:11 WARNING: [Worker 0] No trajectory data to save for house_2434 [pipeline.py: 229] +05/27 00:36:11 INFO: [Worker 0] Worker 0 completed house 2434: 0/1 successful episodes [pipeline.py: 1243] +05/27 00:36:11 INFO: [Worker 0] Worker 0 starting house 2490 (index 22/114) [pipeline.py: 473] +05/27 00:36:11 INFO: [Worker 0] Loaded 1 episodes for house 2490 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 00:36:11 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 00:36:16 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2490_ceiling.xml [task_sampler.py: 797] +05/27 00:36:16 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2490, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 00:36:16 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 00:36:16 INFO: [Worker 0] randomize_scene: Setting poses for 74 objects [json_eval_task_sampler.py: 686] +05/27 00:36:16 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 00:36:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 00:36:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 00:36:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 00:36:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 00:36:16 INFO: [Worker 0] Sampled task 'Pick up the red lava spike and place it next to the houseplant' [task_sampler.py: 1136] +05/27 00:36:16 INFO: [Worker 0] Worker 0 house 2490 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 00:36:16 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 00:36:16 WARNING: [Worker 0] Could not find object objamountingbracket_3bdbefaa473e4bf5bf06a095689d00cb_1_0_2 in scene [object_manager.py: 1238] +05/27 00:37:51 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 00:53:00 INFO: [Worker 0] Worker 0 house 2490 episode 0 object objadecorativespike_0b7f50f543a24b84939dcb9a12754534_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 00:53:04 INFO: [Worker 0] Batching and saving trajectory data for house_2490: 1 episodes [pipeline.py: 233] +05/27 00:53:04 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 00:53:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 00:53:07 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2490 [save_utils.py: 703] +05/27 00:53:07 INFO: [Worker 0] Successfully saved trajectory data for house_2490 in 2.83s (batch: 2.74s, save: 0.09s) [pipeline.py: 280] +05/27 00:53:08 WARNING: [Worker 0] No trajectory data to save for house_2490 [pipeline.py: 229] +05/27 00:53:08 INFO: [Worker 0] Worker 0 completed house 2490: 0/1 successful episodes [pipeline.py: 1243] +05/27 00:53:08 INFO: [Worker 0] Worker 0 starting house 2599 (index 23/114) [pipeline.py: 473] +05/27 00:53:08 INFO: [Worker 0] Loaded 1 episodes for house 2599 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 00:53:08 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 00:54:00 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2599_ceiling.xml [task_sampler.py: 797] +05/27 00:54:00 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2599, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 00:54:00 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 00:54:00 INFO: [Worker 0] randomize_scene: Setting poses for 74 objects [json_eval_task_sampler.py: 686] +05/27 00:54:00 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 00:54:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 00:54:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 00:54:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 00:54:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 00:54:00 INFO: [Worker 0] Sampled task 'Pick up the sleek dark rectangular phone and place it next to the golden brown loaf of bread' [task_sampler.py: 1136] +05/27 00:54:00 INFO: [Worker 0] Worker 0 house 2599 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 00:54:00 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 00:54:00 WARNING: [Worker 0] Could not find object objaminiaturelighthouse_bde6dcab0a89413eba4422da59f19cef_1_0_5 in scene [object_manager.py: 1238] +05/27 00:54:00 WARNING: [Worker 0] Could not find object objalighter_50b6e50751754a0d9c0fa8c6f950289b_1_0_5 in scene [object_manager.py: 1238] +05/27 01:10:15 INFO: [Worker 0] Worker 0 house 2599 episode 0 object cellulartelephone_43b2396be97b1322a94e498589888114_1_0_8 completed with success=False [pipeline.py: 1114] +05/27 01:10:18 INFO: [Worker 0] Batching and saving trajectory data for house_2599: 1 episodes [pipeline.py: 233] +05/27 01:10:18 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 01:10:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 01:10:20 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2599 [save_utils.py: 703] +05/27 01:10:20 INFO: [Worker 0] Successfully saved trajectory data for house_2599 in 2.20s (batch: 2.11s, save: 0.09s) [pipeline.py: 280] +05/27 01:10:20 WARNING: [Worker 0] No trajectory data to save for house_2599 [pipeline.py: 229] +05/27 01:10:20 INFO: [Worker 0] Worker 0 completed house 2599: 0/1 successful episodes [pipeline.py: 1243] +05/27 01:10:20 INFO: [Worker 0] Worker 0 starting house 2724 (index 24/114) [pipeline.py: 473] +05/27 01:10:20 INFO: [Worker 0] Loaded 1 episodes for house 2724 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 01:10:20 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 01:11:12 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/27 01:11:16 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2724_ceiling.xml [task_sampler.py: 797] +05/27 01:11:16 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2724, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 01:11:16 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 01:11:16 INFO: [Worker 0] randomize_scene: Setting poses for 63 objects [json_eval_task_sampler.py: 686] +05/27 01:11:16 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 01:11:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 01:11:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 01:11:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 01:11:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 01:11:16 INFO: [Worker 0] Sampled task 'Pick up the blue disc with white airplane icon and place it next to the explosive device' [task_sampler.py: 1136] +05/27 01:11:16 INFO: [Worker 0] Worker 0 house 2724 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 01:11:16 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 01:11:16 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_7 in scene [object_manager.py: 1238] +05/27 01:27:18 INFO: [Worker 0] Worker 0 house 2724 episode 0 object objadecorativedisc_26490714f2394b508764726a9341aefe_1_0_9 completed with success=False [pipeline.py: 1114] +05/27 01:27:21 INFO: [Worker 0] Batching and saving trajectory data for house_2724: 1 episodes [pipeline.py: 233] +05/27 01:27:21 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 01:27:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 01:27:23 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2724 [save_utils.py: 703] +05/27 01:27:23 INFO: [Worker 0] Successfully saved trajectory data for house_2724 in 2.31s (batch: 2.22s, save: 0.09s) [pipeline.py: 280] +05/27 01:27:24 WARNING: [Worker 0] No trajectory data to save for house_2724 [pipeline.py: 229] +05/27 01:27:24 INFO: [Worker 0] Worker 0 completed house 2724: 0/1 successful episodes [pipeline.py: 1243] +05/27 01:27:24 INFO: [Worker 0] Worker 0 starting house 2834 (index 25/114) [pipeline.py: 473] +05/27 01:27:24 INFO: [Worker 0] Loaded 1 episodes for house 2834 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 01:27:24 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 01:27:32 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2834_ceiling.xml [task_sampler.py: 797] +05/27 01:27:32 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2834, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 01:27:32 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 01:27:32 INFO: [Worker 0] randomize_scene: Setting poses for 102 objects [json_eval_task_sampler.py: 686] +05/27 01:27:32 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 01:27:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 01:27:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 01:27:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 01:27:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 01:27:32 INFO: [Worker 0] Sampled task 'Pick up the black chef knife and place it next to the glossy green cup with flared rim' [task_sampler.py: 1136] +05/27 01:27:32 INFO: [Worker 0] Worker 0 house 2834 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 01:27:32 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 01:27:32 WARNING: [Worker 0] Could not find object objadecorativeplasterpanel_b1111ed6a740470da8d83ecd132ed6ec_1_0_5 in scene [object_manager.py: 1238] +05/27 01:27:32 WARNING: [Worker 0] Could not find object fabric_8b382fcf75cb442de8954844ebbb6318_1_0_5 in scene [object_manager.py: 1238] +05/27 01:27:32 WARNING: [Worker 0] Could not find object objaguitareffectspedal_8c6e5265f19b49709119c2628c2bdf3f_1_0_9 in scene [object_manager.py: 1238] +05/27 01:27:32 WARNING: [Worker 0] Could not find object objaheadband_d49545a5b65a40bcade1370176d8950a_1_0_9 in scene [object_manager.py: 1238] +05/27 01:29:09 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 01:47:11 INFO: [Worker 0] Worker 0 house 2834 episode 0 object objachefsknife_1e7b5d7445884162b4154bd80e587baf_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 01:47:14 INFO: [Worker 0] Batching and saving trajectory data for house_2834: 1 episodes [pipeline.py: 233] +05/27 01:47:14 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 01:47:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 01:47:16 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2834 [save_utils.py: 703] +05/27 01:47:16 INFO: [Worker 0] Successfully saved trajectory data for house_2834 in 2.29s (batch: 2.20s, save: 0.09s) [pipeline.py: 280] +05/27 01:47:17 WARNING: [Worker 0] No trajectory data to save for house_2834 [pipeline.py: 229] +05/27 01:47:17 INFO: [Worker 0] Worker 0 completed house 2834: 0/1 successful episodes [pipeline.py: 1243] +05/27 01:47:17 INFO: [Worker 0] Worker 0 starting house 2892 (index 26/114) [pipeline.py: 473] +05/27 01:47:17 INFO: [Worker 0] Loaded 1 episodes for house 2892 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 01:47:17 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 01:48:31 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/27 01:48:34 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2892_ceiling.xml [task_sampler.py: 797] +05/27 01:48:34 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2892, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 01:48:34 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 01:48:34 INFO: [Worker 0] randomize_scene: Setting poses for 45 objects [json_eval_task_sampler.py: 686] +05/27 01:48:34 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 01:48:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 01:48:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 01:48:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 01:48:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 01:48:34 INFO: [Worker 0] Sampled task 'Pick up the adhesivetape and place it next to the soapdispenser' [task_sampler.py: 1136] +05/27 01:48:34 INFO: [Worker 0] Worker 0 house 2892 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 01:48:34 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 01:48:34 WARNING: [Worker 0] Could not find object objadecorativemap_953f774954d249b38943e1c8542db499_2_0_4 in scene [object_manager.py: 1238] +05/27 01:48:34 WARNING: [Worker 0] Could not find object objaceilingpanel_8bde878be8dd4fb7b6914db9c4dd31bb_1_0_4 in scene [object_manager.py: 1238] +05/27 01:50:10 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 02:00:38 INFO: [Worker 0] Worker 0 house 2892 episode 0 object objaadhesivetape_a579c57c161d4e4babf9761d601ddd2c_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 02:00:42 INFO: [Worker 0] Batching and saving trajectory data for house_2892: 1 episodes [pipeline.py: 233] +05/27 02:00:42 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 02:00:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 02:00:45 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2892 [save_utils.py: 703] +05/27 02:00:45 INFO: [Worker 0] Successfully saved trajectory data for house_2892 in 2.84s (batch: 2.75s, save: 0.09s) [pipeline.py: 280] +05/27 02:00:45 WARNING: [Worker 0] No trajectory data to save for house_2892 [pipeline.py: 229] +05/27 02:00:45 INFO: [Worker 0] Worker 0 completed house 2892: 0/1 successful episodes [pipeline.py: 1243] +05/27 02:00:45 INFO: [Worker 0] Worker 0 starting house 3019 (index 27/114) [pipeline.py: 473] +05/27 02:00:45 INFO: [Worker 0] Loaded 1 episodes for house 3019 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 02:00:45 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 02:00:51 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3019_ceiling.xml [task_sampler.py: 797] +05/27 02:00:51 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3019, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 02:00:51 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 02:00:51 INFO: [Worker 0] randomize_scene: Setting poses for 63 objects [json_eval_task_sampler.py: 686] +05/27 02:00:51 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 02:00:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 02:00:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 02:00:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 02:00:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 02:00:51 INFO: [Worker 0] Sampled task 'Pick up the handheld mirror and place it next to the decorative bird' [task_sampler.py: 1136] +05/27 02:00:51 INFO: [Worker 0] Worker 0 house 3019 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 02:00:51 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 02:00:51 WARNING: [Worker 0] Could not find object objaexternalharddrive_f8de4975c0f54c1a97203c6a674f6a39_1_0_5 in scene [object_manager.py: 1238] +05/27 02:00:51 WARNING: [Worker 0] Could not find object fabric_8b382fcf75cb442de8954844ebbb6318_1_0_5 in scene [object_manager.py: 1238] +05/27 02:16:44 INFO: [Worker 0] Worker 0 house 3019 episode 0 object objahandheldmirror_2244842d4ea94f81aa5f222d891b60da_2_0_9 completed with success=False [pipeline.py: 1114] +05/27 02:16:48 INFO: [Worker 0] Batching and saving trajectory data for house_3019: 1 episodes [pipeline.py: 233] +05/27 02:16:48 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 02:16:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 02:16:51 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3019 [save_utils.py: 703] +05/27 02:16:51 INFO: [Worker 0] Successfully saved trajectory data for house_3019 in 2.84s (batch: 2.75s, save: 0.09s) [pipeline.py: 280] +05/27 02:16:51 WARNING: [Worker 0] No trajectory data to save for house_3019 [pipeline.py: 229] +05/27 02:16:51 INFO: [Worker 0] Worker 0 completed house 3019: 0/1 successful episodes [pipeline.py: 1243] +05/27 02:16:51 INFO: [Worker 0] Worker 0 starting house 3122 (index 28/114) [pipeline.py: 473] +05/27 02:16:51 INFO: [Worker 0] Loaded 1 episodes for house 3122 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 02:16:51 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 02:16:53 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3122_ceiling.xml [task_sampler.py: 797] +05/27 02:16:53 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3122, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 02:16:53 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 02:16:53 INFO: [Worker 0] randomize_scene: Setting poses for 20 objects [json_eval_task_sampler.py: 686] +05/27 02:16:53 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 02:16:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 02:16:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 02:16:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 02:16:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 02:16:53 INFO: [Worker 0] Sampled task 'Pick up the container and place it next to the sorbent' [task_sampler.py: 1136] +05/27 02:16:53 INFO: [Worker 0] Worker 0 house 3122 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 02:16:54 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 02:18:33 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 02:26:12 INFO: [Worker 0] Worker 0 house 3122 episode 0 object objadispenser_dae48a392c5a4f3aa00235e664ee7d4d_1_0_3 completed with success=False [pipeline.py: 1114] +05/27 02:26:16 INFO: [Worker 0] Batching and saving trajectory data for house_3122: 1 episodes [pipeline.py: 233] +05/27 02:26:16 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 02:26:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 02:26:18 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3122 [save_utils.py: 703] +05/27 02:26:18 INFO: [Worker 0] Successfully saved trajectory data for house_3122 in 2.27s (batch: 2.18s, save: 0.09s) [pipeline.py: 280] +05/27 02:26:18 WARNING: [Worker 0] No trajectory data to save for house_3122 [pipeline.py: 229] +05/27 02:26:18 INFO: [Worker 0] Worker 0 completed house 3122: 0/1 successful episodes [pipeline.py: 1243] +05/27 02:26:18 INFO: [Worker 0] Worker 0 starting house 3224 (index 29/114) [pipeline.py: 473] +05/27 02:26:18 INFO: [Worker 0] Loaded 1 episodes for house 3224 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 02:26:18 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 02:26:31 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3224_ceiling.xml [task_sampler.py: 797] +05/27 02:26:31 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3224, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 02:26:31 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 02:26:31 INFO: [Worker 0] randomize_scene: Setting poses for 79 objects [json_eval_task_sampler.py: 686] +05/27 02:26:31 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 02:26:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 02:26:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 02:26:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 02:26:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 02:26:31 INFO: [Worker 0] Sampled task 'Pick up the blue metal clamp and place it next to the cassette recorder' [task_sampler.py: 1136] +05/27 02:26:31 INFO: [Worker 0] Worker 0 house 3224 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 02:26:31 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 02:28:09 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 02:43:39 INFO: [Worker 0] Worker 0 house 3224 episode 0 object objabarclamp_cb6dfd3688694664b9fadfe4556882d1_1_0_4 completed with success=False [pipeline.py: 1114] +05/27 02:43:42 INFO: [Worker 0] Batching and saving trajectory data for house_3224: 1 episodes [pipeline.py: 233] +05/27 02:43:42 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 02:43:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 02:43:45 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3224 [save_utils.py: 703] +05/27 02:43:45 INFO: [Worker 0] Successfully saved trajectory data for house_3224 in 2.28s (batch: 2.19s, save: 0.09s) [pipeline.py: 280] +05/27 02:43:45 WARNING: [Worker 0] No trajectory data to save for house_3224 [pipeline.py: 229] +05/27 02:43:45 INFO: [Worker 0] Worker 0 completed house 3224: 0/1 successful episodes [pipeline.py: 1243] +05/27 02:43:45 INFO: [Worker 0] Worker 0 starting house 3273 (index 30/114) [pipeline.py: 473] +05/27 02:43:45 INFO: [Worker 0] Loaded 1 episodes for house 3273 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 02:43:45 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 02:43:48 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3273_ceiling.xml [task_sampler.py: 797] +05/27 02:43:48 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3273, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 02:43:48 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 02:43:48 INFO: [Worker 0] randomize_scene: Setting poses for 47 objects [json_eval_task_sampler.py: 686] +05/27 02:43:48 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 02:43:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 02:43:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 02:43:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 02:43:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 02:43:48 INFO: [Worker 0] Sampled task 'Pick up the solid food and place it next to the classic blue and white camper van' [task_sampler.py: 1136] +05/27 02:43:48 INFO: [Worker 0] Worker 0 house 3273 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 02:43:48 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 02:45:28 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 02:53:59 INFO: [Worker 0] Worker 0 house 3273 episode 0 object Irishpotato_19522f313a33f0a662dcc0b1aa19547c_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 02:54:03 INFO: [Worker 0] Batching and saving trajectory data for house_3273: 1 episodes [pipeline.py: 233] +05/27 02:54:03 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 02:54:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 02:54:06 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3273 [save_utils.py: 703] +05/27 02:54:06 INFO: [Worker 0] Successfully saved trajectory data for house_3273 in 2.78s (batch: 2.70s, save: 0.09s) [pipeline.py: 280] +05/27 02:54:07 WARNING: [Worker 0] No trajectory data to save for house_3273 [pipeline.py: 229] +05/27 02:54:07 INFO: [Worker 0] Worker 0 completed house 3273: 0/1 successful episodes [pipeline.py: 1243] +05/27 02:54:07 INFO: [Worker 0] Worker 0 starting house 3346 (index 31/114) [pipeline.py: 473] +05/27 02:54:07 INFO: [Worker 0] Loaded 1 episodes for house 3346 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 02:54:07 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 02:54:21 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3346_ceiling.xml [task_sampler.py: 797] +05/27 02:54:21 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3346, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 02:54:21 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 02:54:21 INFO: [Worker 0] randomize_scene: Setting poses for 57 objects [json_eval_task_sampler.py: 686] +05/27 02:54:21 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 02:54:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 02:54:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 02:54:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 02:54:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 02:54:21 INFO: [Worker 0] Sampled task 'Pick up the blue clock and place it next to the rustic ceramic bowl with handles' [task_sampler.py: 1136] +05/27 02:54:21 INFO: [Worker 0] Worker 0 house 3346 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 02:54:21 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 02:56:03 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 03:07:45 INFO: [Worker 0] Worker 0 house 3346 episode 0 object alarmclock_7e1337b32a9e0d9439bef16e80df0de2_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 03:07:49 INFO: [Worker 0] Batching and saving trajectory data for house_3346: 1 episodes [pipeline.py: 233] +05/27 03:07:49 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 03:07:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 03:07:52 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3346 [save_utils.py: 703] +05/27 03:07:52 INFO: [Worker 0] Successfully saved trajectory data for house_3346 in 2.80s (batch: 2.71s, save: 0.09s) [pipeline.py: 280] +05/27 03:07:53 WARNING: [Worker 0] No trajectory data to save for house_3346 [pipeline.py: 229] +05/27 03:07:53 INFO: [Worker 0] Worker 0 completed house 3346: 0/1 successful episodes [pipeline.py: 1243] +05/27 03:07:53 INFO: [Worker 0] Worker 0 starting house 3409 (index 32/114) [pipeline.py: 473] +05/27 03:07:53 INFO: [Worker 0] Loaded 1 episodes for house 3409 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 03:07:53 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 03:07:59 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3409_ceiling.xml [task_sampler.py: 797] +05/27 03:07:59 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3409, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 03:07:59 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 03:07:59 INFO: [Worker 0] randomize_scene: Setting poses for 66 objects [json_eval_task_sampler.py: 686] +05/27 03:07:59 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 03:07:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 03:07:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 03:07:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 03:07:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 03:07:59 INFO: [Worker 0] Sampled task 'Pick up the beige sponge and place it next to the white spine thin book' [task_sampler.py: 1136] +05/27 03:07:59 INFO: [Worker 0] Worker 0 house 3409 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 03:07:59 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 03:09:35 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 03:22:16 INFO: [Worker 0] Worker 0 house 3409 episode 0 object objasponge_f21d15e2964648989a80c23bfa0b932c_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 03:22:19 INFO: [Worker 0] Batching and saving trajectory data for house_3409: 1 episodes [pipeline.py: 233] +05/27 03:22:19 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 03:22:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 03:22:21 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3409 [save_utils.py: 703] +05/27 03:22:21 INFO: [Worker 0] Successfully saved trajectory data for house_3409 in 2.21s (batch: 2.12s, save: 0.10s) [pipeline.py: 280] +05/27 03:22:22 WARNING: [Worker 0] No trajectory data to save for house_3409 [pipeline.py: 229] +05/27 03:22:22 INFO: [Worker 0] Worker 0 completed house 3409: 0/1 successful episodes [pipeline.py: 1243] +05/27 03:22:22 INFO: [Worker 0] Worker 0 starting house 3500 (index 33/114) [pipeline.py: 473] +05/27 03:22:22 INFO: [Worker 0] Loaded 1 episodes for house 3500 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 03:22:22 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 03:22:37 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3500_ceiling.xml [task_sampler.py: 797] +05/27 03:22:37 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3500, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 03:22:37 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 03:22:37 INFO: [Worker 0] randomize_scene: Setting poses for 81 objects [json_eval_task_sampler.py: 686] +05/27 03:22:37 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 03:22:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 03:22:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 03:22:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 03:22:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 03:22:37 INFO: [Worker 0] Sampled task 'Pick up the black and yellow handheld radio and place it next to the gray sculpture with textured indentations' [task_sampler.py: 1136] +05/27 03:22:37 INFO: [Worker 0] Worker 0 house 3500 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 03:22:37 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 03:22:37 WARNING: [Worker 0] Could not find object pillow_c434ce940f1b4c2d2b3652e7c1fc3eba_1_0_7 in scene [object_manager.py: 1238] +05/27 03:22:37 WARNING: [Worker 0] Could not find object objaspring_3071830f2d3e4b57a59976719298c808_1_0_7 in scene [object_manager.py: 1238] +05/27 03:41:21 INFO: [Worker 0] Worker 0 house 3500 episode 0 object objahandheldradio_5e2b1233523f47adbe3e9e894568f0d2_1_0_4 completed with success=False [pipeline.py: 1114] +05/27 03:41:25 INFO: [Worker 0] Batching and saving trajectory data for house_3500: 1 episodes [pipeline.py: 233] +05/27 03:41:25 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 03:41:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 03:41:28 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3500 [save_utils.py: 703] +05/27 03:41:28 INFO: [Worker 0] Successfully saved trajectory data for house_3500 in 2.87s (batch: 2.76s, save: 0.11s) [pipeline.py: 280] +05/27 03:41:28 WARNING: [Worker 0] No trajectory data to save for house_3500 [pipeline.py: 229] +05/27 03:41:28 INFO: [Worker 0] Worker 0 completed house 3500: 0/1 successful episodes [pipeline.py: 1243] +05/27 03:41:28 INFO: [Worker 0] Worker 0 starting house 3577 (index 34/114) [pipeline.py: 473] +05/27 03:41:28 INFO: [Worker 0] Loaded 1 episodes for house 3577 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 03:41:28 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 03:41:45 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3577_ceiling.xml [task_sampler.py: 797] +05/27 03:41:45 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3577, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 03:41:45 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 03:41:45 INFO: [Worker 0] randomize_scene: Setting poses for 90 objects [json_eval_task_sampler.py: 686] +05/27 03:41:45 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 03:41:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 03:41:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 03:41:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 03:41:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 03:41:45 INFO: [Worker 0] Sampled task 'Pick up the compact black rail mount with slots and place it next to the simple light brown ceramic bowl' [task_sampler.py: 1136] +05/27 03:41:45 INFO: [Worker 0] Worker 0 house 3577 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 03:41:45 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 04:01:40 INFO: [Worker 0] Worker 0 house 3577 episode 0 object objarailmount_221ab95129a74da18fbab9b1e15d77f3_1_0_4 completed with success=False [pipeline.py: 1114] +05/27 04:01:44 INFO: [Worker 0] Batching and saving trajectory data for house_3577: 1 episodes [pipeline.py: 233] +05/27 04:01:44 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 04:01:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 04:01:46 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3577 [save_utils.py: 703] +05/27 04:01:46 INFO: [Worker 0] Successfully saved trajectory data for house_3577 in 2.82s (batch: 2.73s, save: 0.09s) [pipeline.py: 280] +05/27 04:01:47 WARNING: [Worker 0] No trajectory data to save for house_3577 [pipeline.py: 229] +05/27 04:01:47 INFO: [Worker 0] Worker 0 completed house 3577: 0/1 successful episodes [pipeline.py: 1243] +05/27 04:01:47 INFO: [Worker 0] Worker 0 starting house 3677 (index 35/114) [pipeline.py: 473] +05/27 04:01:47 INFO: [Worker 0] Loaded 1 episodes for house 3677 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 04:01:47 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 04:01:56 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3677_ceiling.xml [task_sampler.py: 797] +05/27 04:01:56 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3677, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 04:01:56 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 04:01:56 INFO: [Worker 0] randomize_scene: Setting poses for 41 objects [json_eval_task_sampler.py: 686] +05/27 04:01:56 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 04:01:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 04:01:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 04:01:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 04:01:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 04:01:56 INFO: [Worker 0] Sampled task 'Pick up the red pot and place it next to the lettuce' [task_sampler.py: 1136] +05/27 04:01:56 INFO: [Worker 0] Worker 0 house 3677 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 04:01:56 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 04:13:28 INFO: [Worker 0] Worker 0 house 3677 episode 0 object objacookingpot_491cd880ee9949758492015247cd04da_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 04:13:31 INFO: [Worker 0] Batching and saving trajectory data for house_3677: 1 episodes [pipeline.py: 233] +05/27 04:13:31 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 04:13:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 04:13:34 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3677 [save_utils.py: 703] +05/27 04:13:34 INFO: [Worker 0] Successfully saved trajectory data for house_3677 in 2.25s (batch: 2.16s, save: 0.09s) [pipeline.py: 280] +05/27 04:13:34 WARNING: [Worker 0] No trajectory data to save for house_3677 [pipeline.py: 229] +05/27 04:13:34 INFO: [Worker 0] Worker 0 completed house 3677: 0/1 successful episodes [pipeline.py: 1243] +05/27 04:13:34 INFO: [Worker 0] Worker 0 starting house 3749 (index 36/114) [pipeline.py: 473] +05/27 04:13:34 INFO: [Worker 0] Loaded 1 episodes for house 3749 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 04:13:34 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 04:13:43 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3749_ceiling.xml [task_sampler.py: 797] +05/27 04:13:43 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3749, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 04:13:43 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 04:13:43 INFO: [Worker 0] randomize_scene: Setting poses for 77 objects [json_eval_task_sampler.py: 686] +05/27 04:13:43 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 04:13:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 04:13:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 04:13:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 04:13:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 04:13:43 INFO: [Worker 0] Sampled task 'Pick up the decorativescript and place it next to the vegetable' [task_sampler.py: 1136] +05/27 04:13:43 INFO: [Worker 0] Worker 0 house 3749 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 04:13:43 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 04:13:43 WARNING: [Worker 0] Could not find object objacleaningsponge_f173c4e92f854efe86fa939466e08e4b_1_0_5 in scene [object_manager.py: 1238] +05/27 04:15:23 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 04:30:13 INFO: [Worker 0] Worker 0 house 3749 episode 0 object objadecorativescript_698f49c7bedb4fc3a5777a9f4edcc5bc_2_0_2 completed with success=False [pipeline.py: 1114] +05/27 04:30:16 INFO: [Worker 0] Batching and saving trajectory data for house_3749: 1 episodes [pipeline.py: 233] +05/27 04:30:16 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 04:30:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 04:30:18 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3749 [save_utils.py: 703] +05/27 04:30:18 INFO: [Worker 0] Successfully saved trajectory data for house_3749 in 2.23s (batch: 2.13s, save: 0.10s) [pipeline.py: 280] +05/27 04:30:19 WARNING: [Worker 0] No trajectory data to save for house_3749 [pipeline.py: 229] +05/27 04:30:19 INFO: [Worker 0] Worker 0 completed house 3749: 0/1 successful episodes [pipeline.py: 1243] +05/27 04:30:19 INFO: [Worker 0] Worker 0 starting house 3816 (index 37/114) [pipeline.py: 473] +05/27 04:30:19 INFO: [Worker 0] Loaded 2 episodes for house 3816 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 04:30:19 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 04:30:25 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3816_ceiling.xml [task_sampler.py: 797] +05/27 04:30:25 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3816, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 04:30:25 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 04:30:25 INFO: [Worker 0] randomize_scene: Setting poses for 67 objects [json_eval_task_sampler.py: 686] +05/27 04:30:25 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 04:30:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 04:30:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 04:30:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 04:30:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 04:30:25 INFO: [Worker 0] Sampled task 'Pick up the dark wrench tool with hexagonal opening and place it next to the smooth brown egg' [task_sampler.py: 1136] +05/27 04:30:25 INFO: [Worker 0] Worker 0 house 3816 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/27 04:30:25 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 04:32:08 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 04:33:40 INFO: [Worker 0] Worker 0 house 3816 episode 0 object objawrench_430ce447c62b42229f6b229f9f21890b_1_0_8 completed with success=False [pipeline.py: 1114] +05/27 04:33:43 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 04:33:48 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3816_ceiling.xml [task_sampler.py: 797] +05/27 04:33:48 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3816, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 04:33:48 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 04:33:48 INFO: [Worker 0] randomize_scene: Setting poses for 67 objects [json_eval_task_sampler.py: 686] +05/27 04:33:48 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 04:33:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 04:33:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 04:33:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 04:33:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 04:33:48 INFO: [Worker 0] Sampled task 'Pick up the green and black pliers and place it next to the small grassy patch with dirt' [task_sampler.py: 1136] +05/27 04:33:48 INFO: [Worker 0] Worker 0 house 3816 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/27 04:33:48 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 04:35:27 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 04:50:30 INFO: [Worker 0] Worker 0 house 3816 episode 1 object objapliers_5a293649f3f64061accc9afdb4008c25_1_0_4 completed with success=False [pipeline.py: 1114] +05/27 04:50:33 INFO: [Worker 0] Batching and saving trajectory data for house_3816: 2 episodes [pipeline.py: 233] +05/27 04:50:33 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 04:50:35 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 04:50:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 04:50:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 04:50:37 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3816 [save_utils.py: 703] +05/27 04:50:37 INFO: [Worker 0] Successfully saved trajectory data for house_3816 in 4.56s (batch: 4.38s, save: 0.18s) [pipeline.py: 280] +05/27 04:50:38 WARNING: [Worker 0] No trajectory data to save for house_3816 [pipeline.py: 229] +05/27 04:50:38 INFO: [Worker 0] Worker 0 completed house 3816: 0/2 successful episodes [pipeline.py: 1243] +05/27 04:50:38 INFO: [Worker 0] Worker 0 starting house 3871 (index 38/114) [pipeline.py: 473] +05/27 04:50:38 INFO: [Worker 0] Loaded 1 episodes for house 3871 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 04:50:38 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 04:50:42 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3871_ceiling.xml [task_sampler.py: 797] +05/27 04:50:42 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3871, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 04:50:42 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 04:50:42 INFO: [Worker 0] randomize_scene: Setting poses for 57 objects [json_eval_task_sampler.py: 686] +05/27 04:50:42 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 04:50:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 04:50:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 04:50:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 04:50:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 04:50:42 INFO: [Worker 0] Sampled task 'Pick up the round soft fuzzy peach and place it next to the red toy rocket with fins' [task_sampler.py: 1136] +05/27 04:50:42 INFO: [Worker 0] Worker 0 house 3871 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 04:50:42 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 04:50:42 WARNING: [Worker 0] Could not find object objadecorativecandle_0c791ace8deb4316bd377aa7fb553517_1_0_5 in scene [object_manager.py: 1238] +05/27 04:50:42 WARNING: [Worker 0] Could not find object objacollar_5f329a75ab1a4890868ba37061ca3396_1_0_5 in scene [object_manager.py: 1238] +05/27 05:03:40 INFO: [Worker 0] Worker 0 house 3871 episode 0 object objafruit_bb7f4908308d4ba5bce1b07d4d730904_1_0_8 completed with success=False [pipeline.py: 1114] +05/27 05:03:43 INFO: [Worker 0] Batching and saving trajectory data for house_3871: 1 episodes [pipeline.py: 233] +05/27 05:03:43 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 05:03:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 05:03:45 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3871 [save_utils.py: 703] +05/27 05:03:45 INFO: [Worker 0] Successfully saved trajectory data for house_3871 in 2.33s (batch: 2.24s, save: 0.09s) [pipeline.py: 280] +05/27 05:03:46 WARNING: [Worker 0] No trajectory data to save for house_3871 [pipeline.py: 229] +05/27 05:03:46 INFO: [Worker 0] Worker 0 completed house 3871: 0/1 successful episodes [pipeline.py: 1243] +05/27 05:03:46 INFO: [Worker 0] Worker 0 starting house 3993 (index 39/114) [pipeline.py: 473] +05/27 05:03:46 INFO: [Worker 0] Loaded 1 episodes for house 3993 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 05:03:46 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 05:03:50 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3993_ceiling.xml [task_sampler.py: 797] +05/27 05:03:50 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3993, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 05:03:50 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 05:03:50 INFO: [Worker 0] randomize_scene: Setting poses for 53 objects [json_eval_task_sampler.py: 686] +05/27 05:03:50 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 05:03:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 05:03:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 05:03:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 05:03:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 05:03:50 INFO: [Worker 0] Sampled task 'Pick up the green alien bust and place it next to the brown bread' [task_sampler.py: 1136] +05/27 05:03:50 INFO: [Worker 0] Worker 0 house 3993 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 05:03:50 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 05:03:50 WARNING: [Worker 0] Could not find object objagardenfork_ce1900ce820a4a419d376d1532e85bcf_1_0_4 in scene [object_manager.py: 1238] +05/27 05:03:50 WARNING: [Worker 0] Could not find object objaminiaturebuilding_1954e7fb9f324e26973b1d34f5358040_1_0_7 in scene [object_manager.py: 1238] +05/27 05:03:50 WARNING: [Worker 0] Could not find object objalighter_a2db21b57424449f9a2d1aa08e5b0c90_1_0_7 in scene [object_manager.py: 1238] +05/27 05:05:34 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 05:18:28 INFO: [Worker 0] Worker 0 house 3993 episode 0 object objaalienbust_1f2fa3f8b4ed4ffb8ad3b95d404b1a55_1_0_8 completed with success=False [pipeline.py: 1114] +05/27 05:18:31 INFO: [Worker 0] Batching and saving trajectory data for house_3993: 1 episodes [pipeline.py: 233] +05/27 05:18:31 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 05:18:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 05:18:33 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3993 [save_utils.py: 703] +05/27 05:18:33 INFO: [Worker 0] Successfully saved trajectory data for house_3993 in 2.18s (batch: 2.09s, save: 0.09s) [pipeline.py: 280] +05/27 05:18:34 WARNING: [Worker 0] No trajectory data to save for house_3993 [pipeline.py: 229] +05/27 05:18:34 INFO: [Worker 0] Worker 0 completed house 3993: 0/1 successful episodes [pipeline.py: 1243] +05/27 05:18:34 INFO: [Worker 0] Worker 0 starting house 4079 (index 40/114) [pipeline.py: 473] +05/27 05:18:34 INFO: [Worker 0] Loaded 1 episodes for house 4079 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 05:18:34 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 05:18:43 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4079_ceiling.xml [task_sampler.py: 797] +05/27 05:18:43 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4079, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 05:18:43 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 05:18:43 INFO: [Worker 0] randomize_scene: Setting poses for 91 objects [json_eval_task_sampler.py: 686] +05/27 05:18:43 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 05:18:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 05:18:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 05:18:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 05:18:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 05:18:43 INFO: [Worker 0] Sampled task 'Pick up the butterfly knife with colorful gradient blade and place it next to the bulbous shiny gold metallic vase' [task_sampler.py: 1136] +05/27 05:18:43 INFO: [Worker 0] Worker 0 house 4079 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 05:18:43 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 05:39:25 INFO: [Worker 0] Worker 0 house 4079 episode 0 object objabutterflyknife_be05554b77de495ea5e92d3bcb7730fa_1_0_8 completed with success=False [pipeline.py: 1114] +05/27 05:39:29 INFO: [Worker 0] Batching and saving trajectory data for house_4079: 1 episodes [pipeline.py: 233] +05/27 05:39:29 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 05:39:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 05:39:31 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4079 [save_utils.py: 703] +05/27 05:39:31 INFO: [Worker 0] Successfully saved trajectory data for house_4079 in 2.36s (batch: 2.27s, save: 0.10s) [pipeline.py: 280] +05/27 05:39:32 WARNING: [Worker 0] No trajectory data to save for house_4079 [pipeline.py: 229] +05/27 05:39:32 INFO: [Worker 0] Worker 0 completed house 4079: 0/1 successful episodes [pipeline.py: 1243] +05/27 05:39:32 INFO: [Worker 0] Worker 0 starting house 4191 (index 41/114) [pipeline.py: 473] +05/27 05:39:32 INFO: [Worker 0] Loaded 1 episodes for house 4191 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 05:39:32 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 05:39:35 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4191_ceiling.xml [task_sampler.py: 797] +05/27 05:39:35 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4191, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 05:39:35 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 05:39:35 INFO: [Worker 0] randomize_scene: Setting poses for 51 objects [json_eval_task_sampler.py: 686] +05/27 05:39:35 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 05:39:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 05:39:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 05:39:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 05:39:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 05:39:35 INFO: [Worker 0] Sampled task 'Pick up the disposable coffee cup and place it next to the gray hand statue' [task_sampler.py: 1136] +05/27 05:39:35 INFO: [Worker 0] Worker 0 house 4191 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 05:39:35 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 05:41:14 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 05:50:40 INFO: [Worker 0] Worker 0 house 4191 episode 0 object objadisposablecoffeecup_b74978f41afd40b4825b1d99478a4d68_3_0_6 completed with success=False [pipeline.py: 1114] +05/27 05:50:44 INFO: [Worker 0] Batching and saving trajectory data for house_4191: 1 episodes [pipeline.py: 233] +05/27 05:50:44 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 05:50:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 05:50:47 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4191 [save_utils.py: 703] +05/27 05:50:47 INFO: [Worker 0] Successfully saved trajectory data for house_4191 in 2.85s (batch: 2.76s, save: 0.09s) [pipeline.py: 280] +05/27 05:50:48 WARNING: [Worker 0] No trajectory data to save for house_4191 [pipeline.py: 229] +05/27 05:50:48 INFO: [Worker 0] Worker 0 completed house 4191: 0/1 successful episodes [pipeline.py: 1243] +05/27 05:50:48 INFO: [Worker 0] Worker 0 starting house 4255 (index 42/114) [pipeline.py: 473] +05/27 05:50:48 INFO: [Worker 0] Loaded 1 episodes for house 4255 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 05:50:48 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 05:50:52 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4255_ceiling.xml [task_sampler.py: 797] +05/27 05:50:52 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4255, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 05:50:52 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 05:50:52 INFO: [Worker 0] randomize_scene: Setting poses for 56 objects [json_eval_task_sampler.py: 686] +05/27 05:50:52 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 05:50:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 05:50:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 05:50:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 05:50:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 05:50:52 INFO: [Worker 0] Sampled task 'Pick up the slender greenish-gray pointed stone arrowhead and place it next to the colorful red bird' [task_sampler.py: 1136] +05/27 05:50:52 INFO: [Worker 0] Worker 0 house 4255 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 05:50:52 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 05:50:52 WARNING: [Worker 0] Could not find object objatooth_4ec84bfdbbec4663b9a730ef943e0768_1_0_7 in scene [object_manager.py: 1238] +05/27 05:50:52 WARNING: [Worker 0] Could not find object objadecorativecandle_0c791ace8deb4316bd377aa7fb553517_1_0_7 in scene [object_manager.py: 1238] +05/27 06:04:53 INFO: [Worker 0] Worker 0 house 4255 episode 0 object objastonetool_98fcfd7e7d24420c832a048faa60dc8a_1_0_9 completed with success=False [pipeline.py: 1114] +05/27 06:04:56 INFO: [Worker 0] Batching and saving trajectory data for house_4255: 1 episodes [pipeline.py: 233] +05/27 06:04:56 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 06:04:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 06:04:58 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4255 [save_utils.py: 703] +05/27 06:04:58 INFO: [Worker 0] Successfully saved trajectory data for house_4255 in 2.24s (batch: 2.15s, save: 0.09s) [pipeline.py: 280] +05/27 06:04:59 WARNING: [Worker 0] No trajectory data to save for house_4255 [pipeline.py: 229] +05/27 06:04:59 INFO: [Worker 0] Worker 0 completed house 4255: 0/1 successful episodes [pipeline.py: 1243] +05/27 06:04:59 INFO: [Worker 0] Worker 0 starting house 4298 (index 43/114) [pipeline.py: 473] +05/27 06:04:59 INFO: [Worker 0] Loaded 1 episodes for house 4298 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 06:04:59 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 06:05:10 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4298_ceiling.xml [task_sampler.py: 797] +05/27 06:05:10 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4298, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 06:05:10 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 06:05:10 INFO: [Worker 0] randomize_scene: Setting poses for 85 objects [json_eval_task_sampler.py: 686] +05/27 06:05:10 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 06:05:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 06:05:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 06:05:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 06:05:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 06:05:10 INFO: [Worker 0] Sampled task 'Pick up the small white bird and place it next to the green hardcover book titled the effective engineer' [task_sampler.py: 1136] +05/27 06:05:10 INFO: [Worker 0] Worker 0 house 4298 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 06:05:11 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 06:06:52 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 06:22:21 INFO: [Worker 0] Worker 0 house 4298 episode 0 object objadecorativebird_0aac489fda0d4e91845b6623e64db21c_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 06:22:24 INFO: [Worker 0] Batching and saving trajectory data for house_4298: 1 episodes [pipeline.py: 233] +05/27 06:22:25 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 06:22:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 06:22:27 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4298 [save_utils.py: 703] +05/27 06:22:27 INFO: [Worker 0] Successfully saved trajectory data for house_4298 in 2.81s (batch: 2.72s, save: 0.09s) [pipeline.py: 280] +05/27 06:22:28 WARNING: [Worker 0] No trajectory data to save for house_4298 [pipeline.py: 229] +05/27 06:22:28 INFO: [Worker 0] Worker 0 completed house 4298: 0/1 successful episodes [pipeline.py: 1243] +05/27 06:22:28 INFO: [Worker 0] Worker 0 starting house 4345 (index 44/114) [pipeline.py: 473] +05/27 06:22:28 INFO: [Worker 0] Loaded 1 episodes for house 4345 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 06:22:28 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 06:22:40 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4345_ceiling.xml [task_sampler.py: 797] +05/27 06:22:40 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4345, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 06:22:40 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 06:22:40 INFO: [Worker 0] randomize_scene: Setting poses for 75 objects [json_eval_task_sampler.py: 686] +05/27 06:22:40 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 06:22:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 06:22:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 06:22:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 06:22:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 06:22:40 INFO: [Worker 0] Sampled task 'Pick up the yellow card featuring snoopy flowers and place it next to the wooden roller with spikes and carving' [task_sampler.py: 1136] +05/27 06:22:40 INFO: [Worker 0] Worker 0 house 4345 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 06:22:40 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 06:24:15 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 06:38:17 INFO: [Worker 0] Worker 0 house 4345 episode 0 object objagreetingcard_8870ef6ecfa9458b9cb383033f8f699f_1_0_4 completed with success=False [pipeline.py: 1114] +05/27 06:38:21 INFO: [Worker 0] Batching and saving trajectory data for house_4345: 1 episodes [pipeline.py: 233] +05/27 06:38:21 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 06:38:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 06:38:24 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4345 [save_utils.py: 703] +05/27 06:38:24 INFO: [Worker 0] Successfully saved trajectory data for house_4345 in 3.03s (batch: 2.93s, save: 0.10s) [pipeline.py: 280] +05/27 06:38:24 WARNING: [Worker 0] No trajectory data to save for house_4345 [pipeline.py: 229] +05/27 06:38:24 INFO: [Worker 0] Worker 0 completed house 4345: 0/1 successful episodes [pipeline.py: 1243] +05/27 06:38:24 INFO: [Worker 0] Worker 0 starting house 4439 (index 45/114) [pipeline.py: 473] +05/27 06:38:24 INFO: [Worker 0] Loaded 1 episodes for house 4439 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 06:38:24 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 06:38:28 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4439_ceiling.xml [task_sampler.py: 797] +05/27 06:38:28 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4439, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 06:38:28 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 06:38:28 INFO: [Worker 0] randomize_scene: Setting poses for 49 objects [json_eval_task_sampler.py: 686] +05/27 06:38:28 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 06:38:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 06:38:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 06:38:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 06:38:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 06:38:28 INFO: [Worker 0] Sampled task 'Pick up the rustic wooden lemon squeezer and place it next to the amber cylindrical prescription pill bottle' [task_sampler.py: 1136] +05/27 06:38:28 INFO: [Worker 0] Worker 0 house 4439 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 06:38:28 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 06:49:55 INFO: [Worker 0] Worker 0 house 4439 episode 0 object objalemonsqueezer_5679cddc744c4f39b731890788405de6_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 06:49:59 INFO: [Worker 0] Batching and saving trajectory data for house_4439: 1 episodes [pipeline.py: 233] +05/27 06:49:59 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 06:50:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 06:50:02 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4439 [save_utils.py: 703] +05/27 06:50:02 INFO: [Worker 0] Successfully saved trajectory data for house_4439 in 2.96s (batch: 2.87s, save: 0.09s) [pipeline.py: 280] +05/27 06:50:03 WARNING: [Worker 0] No trajectory data to save for house_4439 [pipeline.py: 229] +05/27 06:50:03 INFO: [Worker 0] Worker 0 completed house 4439: 0/1 successful episodes [pipeline.py: 1243] +05/27 06:50:03 INFO: [Worker 0] Worker 0 starting house 4514 (index 46/114) [pipeline.py: 473] +05/27 06:50:03 INFO: [Worker 0] Loaded 1 episodes for house 4514 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 06:50:03 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 06:50:12 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4514_ceiling.xml [task_sampler.py: 797] +05/27 06:50:12 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4514, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 06:50:12 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 06:50:12 INFO: [Worker 0] randomize_scene: Setting poses for 51 objects [json_eval_task_sampler.py: 686] +05/27 06:50:12 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 06:50:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 06:50:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 06:50:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 06:50:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 06:50:12 INFO: [Worker 0] Sampled task 'Pick up the cutter and place it next to the simple light brown ceramic bowl' [task_sampler.py: 1136] +05/27 06:50:12 INFO: [Worker 0] Worker 0 house 4514 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 06:50:12 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 06:51:53 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 07:02:17 INFO: [Worker 0] Worker 0 house 4514 episode 0 object objaknife_c043b12ebc1b41c8813036247e6b2f54_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 07:02:20 INFO: [Worker 0] Batching and saving trajectory data for house_4514: 1 episodes [pipeline.py: 233] +05/27 07:02:20 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 07:02:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 07:02:23 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4514 [save_utils.py: 703] +05/27 07:02:23 INFO: [Worker 0] Successfully saved trajectory data for house_4514 in 2.30s (batch: 2.20s, save: 0.10s) [pipeline.py: 280] +05/27 07:02:23 WARNING: [Worker 0] No trajectory data to save for house_4514 [pipeline.py: 229] +05/27 07:02:23 INFO: [Worker 0] Worker 0 completed house 4514: 0/1 successful episodes [pipeline.py: 1243] +05/27 07:02:23 INFO: [Worker 0] Worker 0 starting house 4636 (index 47/114) [pipeline.py: 473] +05/27 07:02:23 INFO: [Worker 0] Loaded 1 episodes for house 4636 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 07:02:23 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 07:02:24 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/27 07:02:28 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4636_ceiling.xml [task_sampler.py: 797] +05/27 07:02:28 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4636, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 07:02:28 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 07:02:28 INFO: [Worker 0] randomize_scene: Setting poses for 66 objects [json_eval_task_sampler.py: 686] +05/27 07:02:28 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 07:02:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 07:02:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 07:02:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 07:02:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 07:02:28 INFO: [Worker 0] Sampled task 'Pick up the teal cordless angle grinder tool and place it next to the black wall hook with red accent' [task_sampler.py: 1136] +05/27 07:02:28 INFO: [Worker 0] Worker 0 house 4636 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 07:02:28 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 07:02:28 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene [object_manager.py: 1238] +05/27 07:18:27 INFO: [Worker 0] Worker 0 house 4636 episode 0 object objaanglegrinder_a49df09b961d426d8ae7fbba02feb228_1_0_3 completed with success=False [pipeline.py: 1114] +05/27 07:18:30 INFO: [Worker 0] Batching and saving trajectory data for house_4636: 1 episodes [pipeline.py: 233] +05/27 07:18:30 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 07:18:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 07:18:32 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4636 [save_utils.py: 703] +05/27 07:18:32 INFO: [Worker 0] Successfully saved trajectory data for house_4636 in 2.20s (batch: 2.11s, save: 0.09s) [pipeline.py: 280] +05/27 07:18:33 WARNING: [Worker 0] No trajectory data to save for house_4636 [pipeline.py: 229] +05/27 07:18:33 INFO: [Worker 0] Worker 0 completed house 4636: 0/1 successful episodes [pipeline.py: 1243] +05/27 07:18:33 INFO: [Worker 0] Worker 0 starting house 4685 (index 48/114) [pipeline.py: 473] +05/27 07:18:33 INFO: [Worker 0] Loaded 1 episodes for house 4685 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 07:18:33 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 07:18:35 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4685_ceiling.xml [task_sampler.py: 797] +05/27 07:18:35 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4685, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 07:18:35 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 07:18:35 INFO: [Worker 0] randomize_scene: Setting poses for 24 objects [json_eval_task_sampler.py: 686] +05/27 07:18:35 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 07:18:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 07:18:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 07:18:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 07:18:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 07:18:35 INFO: [Worker 0] Sampled task 'Pick up the light rectangular amulet with seated figure and place it next to the lifelike dark stag beetle' [task_sampler.py: 1136] +05/27 07:18:35 INFO: [Worker 0] Worker 0 house 4685 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 07:18:35 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 07:20:10 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 07:26:25 INFO: [Worker 0] Worker 0 house 4685 episode 0 object objaamulet_ce4443cc64e94facb38150f2b6687597_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 07:26:28 INFO: [Worker 0] Batching and saving trajectory data for house_4685: 1 episodes [pipeline.py: 233] +05/27 07:26:28 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 07:26:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 07:26:30 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4685 [save_utils.py: 703] +05/27 07:26:30 INFO: [Worker 0] Successfully saved trajectory data for house_4685 in 2.26s (batch: 2.17s, save: 0.09s) [pipeline.py: 280] +05/27 07:26:30 WARNING: [Worker 0] No trajectory data to save for house_4685 [pipeline.py: 229] +05/27 07:26:30 INFO: [Worker 0] Worker 0 completed house 4685: 0/1 successful episodes [pipeline.py: 1243] +05/27 07:26:30 INFO: [Worker 0] Worker 0 starting house 4696 (index 49/114) [pipeline.py: 473] +05/27 07:26:30 INFO: [Worker 0] Loaded 2 episodes for house 4696 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 07:26:30 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 07:26:32 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4696_ceiling.xml [task_sampler.py: 797] +05/27 07:26:32 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4696, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 07:26:32 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 07:26:32 INFO: [Worker 0] randomize_scene: Setting poses for 16 objects [json_eval_task_sampler.py: 686] +05/27 07:26:32 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 07:26:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 07:26:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 07:26:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 07:26:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 07:26:32 INFO: [Worker 0] Sampled task 'Pick up the garden truck and place it next to the blue bottle' [task_sampler.py: 1136] +05/27 07:26:32 INFO: [Worker 0] Worker 0 house 4696 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/27 07:26:32 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 07:28:07 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 07:33:31 INFO: [Worker 0] Worker 0 house 4696 episode 0 object objacucumber_2f0743a1d27345269d1444a8becfce59_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 07:33:35 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 07:33:36 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4696_ceiling.xml [task_sampler.py: 797] +05/27 07:33:36 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4696, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 07:33:36 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 07:33:36 INFO: [Worker 0] randomize_scene: Setting poses for 16 objects [json_eval_task_sampler.py: 686] +05/27 07:33:36 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 07:33:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 07:33:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 07:33:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 07:33:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 07:33:36 INFO: [Worker 0] Sampled task 'Pick up the compact camouflage tactical pouch with buckle and place it next to the small shiny gold dog statue' [task_sampler.py: 1136] +05/27 07:33:36 INFO: [Worker 0] Worker 0 house 4696 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/27 07:33:36 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 07:35:11 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 07:40:48 INFO: [Worker 0] Worker 0 house 4696 episode 1 object objatacticalpouch_4d76d1d1fc934a0cbccddd28103b2657_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 07:40:51 INFO: [Worker 0] Batching and saving trajectory data for house_4696: 2 episodes [pipeline.py: 233] +05/27 07:40:51 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 07:40:53 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 07:40:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 07:40:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 07:40:55 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4696 [save_utils.py: 703] +05/27 07:40:55 INFO: [Worker 0] Successfully saved trajectory data for house_4696 in 4.39s (batch: 4.23s, save: 0.17s) [pipeline.py: 280] +05/27 07:40:56 WARNING: [Worker 0] No trajectory data to save for house_4696 [pipeline.py: 229] +05/27 07:40:56 INFO: [Worker 0] Worker 0 completed house 4696: 0/2 successful episodes [pipeline.py: 1243] +05/27 07:40:56 INFO: [Worker 0] Worker 0 starting house 4731 (index 50/114) [pipeline.py: 473] +05/27 07:40:56 INFO: [Worker 0] Loaded 1 episodes for house 4731 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 07:40:56 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 07:41:06 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4731_ceiling.xml [task_sampler.py: 797] +05/27 07:41:06 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4731, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 07:41:06 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 07:41:06 INFO: [Worker 0] randomize_scene: Setting poses for 60 objects [json_eval_task_sampler.py: 686] +05/27 07:41:06 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 07:41:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 07:41:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 07:41:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 07:41:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 07:41:06 INFO: [Worker 0] Sampled task 'Pick up the yellow candle with white wax top and place it next to the black rugged tablet with touchscreen buttons' [task_sampler.py: 1136] +05/27 07:41:06 INFO: [Worker 0] Worker 0 house 4731 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 07:41:06 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 07:42:46 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 07:56:28 INFO: [Worker 0] Worker 0 house 4731 episode 0 object objadecorativecandle_7aaf40cda216463d956737baa002efa7_1_0_4 completed with success=False [pipeline.py: 1114] +05/27 07:56:32 INFO: [Worker 0] Batching and saving trajectory data for house_4731: 1 episodes [pipeline.py: 233] +05/27 07:56:32 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 07:56:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 07:56:35 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4731 [save_utils.py: 703] +05/27 07:56:35 INFO: [Worker 0] Successfully saved trajectory data for house_4731 in 2.89s (batch: 2.80s, save: 0.09s) [pipeline.py: 280] +05/27 07:56:36 WARNING: [Worker 0] No trajectory data to save for house_4731 [pipeline.py: 229] +05/27 07:56:36 INFO: [Worker 0] Worker 0 completed house 4731: 0/1 successful episodes [pipeline.py: 1243] +05/27 07:56:36 INFO: [Worker 0] Worker 0 starting house 4821 (index 51/114) [pipeline.py: 473] +05/27 07:56:36 INFO: [Worker 0] Loaded 1 episodes for house 4821 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 07:56:36 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 07:56:40 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4821_ceiling.xml [task_sampler.py: 797] +05/27 07:56:40 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4821, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 07:56:40 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 07:56:40 INFO: [Worker 0] randomize_scene: Setting poses for 58 objects [json_eval_task_sampler.py: 686] +05/27 07:56:40 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 07:56:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 07:56:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 07:56:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 07:56:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 07:56:40 INFO: [Worker 0] Sampled task 'Pick up the slender smooth beige animal horn and place it next to the soapdispenser' [task_sampler.py: 1136] +05/27 07:56:40 INFO: [Worker 0] Worker 0 house 4821 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 07:56:40 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 07:56:40 WARNING: [Worker 0] Could not find object objadecorativeemblem_944ac46de4714840942d4a907eef5ef6_1_0_7 in scene [object_manager.py: 1238] +05/27 07:56:40 WARNING: [Worker 0] Could not find object candle_fe12fa900f50b1f2dcab659cebcf492b_1_0_7 in scene [object_manager.py: 1238] +05/27 07:58:18 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 07:59:11 INFO: [Worker 0] Worker 0 house 4821 episode 0 object objadecorativehorn_20097ccba5444c968beff4890ecd2402_1_0_8 completed with success=True [pipeline.py: 1114] +05/27 07:59:14 INFO: [Worker 0] Batching and saving trajectory data for house_4821: 1 episodes [pipeline.py: 233] +05/27 07:59:14 INFO: [Worker 0] Preparing episode data: 274 timesteps [save_utils.py: 284] +05/27 07:59:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 07:59:16 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4821 [save_utils.py: 703] +05/27 07:59:16 INFO: [Worker 0] Successfully saved trajectory data for house_4821 in 2.11s (batch: 2.05s, save: 0.06s) [pipeline.py: 280] +05/27 07:59:16 WARNING: [Worker 0] No trajectory data to save for house_4821 [pipeline.py: 229] +05/27 07:59:16 INFO: [Worker 0] Worker 0 completed house 4821: 1/1 successful episodes [pipeline.py: 1243] +05/27 07:59:16 INFO: [Worker 0] Worker 0 starting house 4917 (index 52/114) [pipeline.py: 473] +05/27 07:59:16 INFO: [Worker 0] Loaded 1 episodes for house 4917 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 07:59:16 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 07:59:27 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4917_ceiling.xml [task_sampler.py: 797] +05/27 07:59:27 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4917, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 07:59:27 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 07:59:27 INFO: [Worker 0] randomize_scene: Setting poses for 67 objects [json_eval_task_sampler.py: 686] +05/27 07:59:27 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 07:59:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 07:59:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 07:59:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 07:59:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 07:59:27 INFO: [Worker 0] Sampled task 'Pick up the whimsical chicken figure in costume and place it next to the small green house plant' [task_sampler.py: 1136] +05/27 07:59:27 INFO: [Worker 0] Worker 0 house 4917 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 07:59:27 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 08:15:30 INFO: [Worker 0] Worker 0 house 4917 episode 0 object objacostumefigure_0bd37fcf74214be0b2e0b8d1b4105aea_1_0_9 completed with success=False [pipeline.py: 1114] +05/27 08:15:33 INFO: [Worker 0] Batching and saving trajectory data for house_4917: 1 episodes [pipeline.py: 233] +05/27 08:15:33 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 08:15:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 08:15:35 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4917 [save_utils.py: 703] +05/27 08:15:35 INFO: [Worker 0] Successfully saved trajectory data for house_4917 in 2.20s (batch: 2.11s, save: 0.09s) [pipeline.py: 280] +05/27 08:15:36 WARNING: [Worker 0] No trajectory data to save for house_4917 [pipeline.py: 229] +05/27 08:15:36 INFO: [Worker 0] Worker 0 completed house 4917: 0/1 successful episodes [pipeline.py: 1243] +05/27 08:15:36 INFO: [Worker 0] Worker 0 starting house 4999 (index 53/114) [pipeline.py: 473] +05/27 08:15:36 INFO: [Worker 0] Loaded 1 episodes for house 4999 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 08:15:36 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 08:15:42 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4999_ceiling.xml [task_sampler.py: 797] +05/27 08:15:42 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4999, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 08:15:42 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 08:15:42 INFO: [Worker 0] randomize_scene: Setting poses for 80 objects [json_eval_task_sampler.py: 686] +05/27 08:15:43 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 08:15:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 08:15:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 08:15:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 08:15:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 08:15:43 INFO: [Worker 0] Sampled task 'Pick up the handbell with wooden handle and brass and place it next to the adjustable metal wrench with handle' [task_sampler.py: 1136] +05/27 08:15:43 INFO: [Worker 0] Worker 0 house 4999 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 08:15:43 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 08:15:43 WARNING: [Worker 0] Could not find object objadecorativepanel_a17676f45b3d483c9dc1910a2eb17269_1_0_8 in scene [object_manager.py: 1238] +05/27 08:15:43 WARNING: [Worker 0] Could not find object objadressshoe_08158fa3333a4b288bd2746a6ba6f9e5_1_0_9 in scene [object_manager.py: 1238] +05/27 08:15:43 WARNING: [Worker 0] Could not find object objamarbleslab_7d540d7b25af4e41a58eaeb5037f88a9_1_0_9 in scene [object_manager.py: 1238] +05/27 08:34:43 INFO: [Worker 0] Worker 0 house 4999 episode 0 object objahandbell_2ad2c9631a83455c9ec767a404d018df_1_0_3 completed with success=False [pipeline.py: 1114] +05/27 08:34:47 INFO: [Worker 0] Batching and saving trajectory data for house_4999: 1 episodes [pipeline.py: 233] +05/27 08:34:47 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 08:34:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 08:34:50 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4999 [save_utils.py: 703] +05/27 08:34:50 INFO: [Worker 0] Successfully saved trajectory data for house_4999 in 2.86s (batch: 2.77s, save: 0.09s) [pipeline.py: 280] +05/27 08:34:51 WARNING: [Worker 0] No trajectory data to save for house_4999 [pipeline.py: 229] +05/27 08:34:51 INFO: [Worker 0] Worker 0 completed house 4999: 0/1 successful episodes [pipeline.py: 1243] +05/27 08:34:51 INFO: [Worker 0] Worker 0 starting house 5103 (index 54/114) [pipeline.py: 473] +05/27 08:34:51 INFO: [Worker 0] Loaded 1 episodes for house 5103 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 08:34:51 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 08:35:00 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5103_ceiling.xml [task_sampler.py: 797] +05/27 08:35:00 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5103, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 08:35:00 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 08:35:00 INFO: [Worker 0] randomize_scene: Setting poses for 58 objects [json_eval_task_sampler.py: 686] +05/27 08:35:00 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 08:35:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 08:35:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 08:35:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 08:35:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 08:35:00 INFO: [Worker 0] Sampled task 'Pick up the rustic wooden mug with handle and place it next to the red envelope with triangular gray flap' [task_sampler.py: 1136] +05/27 08:35:00 INFO: [Worker 0] Worker 0 house 5103 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 08:35:00 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 08:50:01 INFO: [Worker 0] Worker 0 house 5103 episode 0 object objamug_8529afb010814c188970381c3596afef_1_0_8 completed with success=False [pipeline.py: 1114] +05/27 08:50:05 INFO: [Worker 0] Batching and saving trajectory data for house_5103: 1 episodes [pipeline.py: 233] +05/27 08:50:05 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 08:50:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 08:50:08 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5103 [save_utils.py: 703] +05/27 08:50:08 INFO: [Worker 0] Successfully saved trajectory data for house_5103 in 2.83s (batch: 2.74s, save: 0.09s) [pipeline.py: 280] +05/27 08:50:08 WARNING: [Worker 0] No trajectory data to save for house_5103 [pipeline.py: 229] +05/27 08:50:08 INFO: [Worker 0] Worker 0 completed house 5103: 0/1 successful episodes [pipeline.py: 1243] +05/27 08:50:08 INFO: [Worker 0] Worker 0 starting house 5181 (index 55/114) [pipeline.py: 473] +05/27 08:50:08 INFO: [Worker 0] Loaded 1 episodes for house 5181 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 08:50:08 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 08:50:20 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5181_ceiling.xml [task_sampler.py: 797] +05/27 08:50:20 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5181, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 08:50:20 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 08:50:20 INFO: [Worker 0] randomize_scene: Setting poses for 26 objects [json_eval_task_sampler.py: 686] +05/27 08:50:20 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 08:50:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 08:50:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 08:50:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 08:50:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 08:50:20 INFO: [Worker 0] Sampled task 'Pick up the red strawberry with green leaves and place it next to the yellow white package with curry' [task_sampler.py: 1136] +05/27 08:50:20 INFO: [Worker 0] Worker 0 house 5181 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 08:50:20 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 08:51:56 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 09:00:11 INFO: [Worker 0] Worker 0 house 5181 episode 0 object objadecorativefruit_963a56c7201143eba6bbcdf2ad60c1c3_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 09:00:15 INFO: [Worker 0] Batching and saving trajectory data for house_5181: 1 episodes [pipeline.py: 233] +05/27 09:00:15 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 09:00:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 09:00:18 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5181 [save_utils.py: 703] +05/27 09:00:18 INFO: [Worker 0] Successfully saved trajectory data for house_5181 in 2.77s (batch: 2.68s, save: 0.09s) [pipeline.py: 280] +05/27 09:00:19 WARNING: [Worker 0] No trajectory data to save for house_5181 [pipeline.py: 229] +05/27 09:00:19 INFO: [Worker 0] Worker 0 completed house 5181: 0/1 successful episodes [pipeline.py: 1243] +05/27 09:00:19 INFO: [Worker 0] Worker 0 starting house 5248 (index 56/114) [pipeline.py: 473] +05/27 09:00:19 INFO: [Worker 0] Loaded 1 episodes for house 5248 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 09:00:19 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 09:00:31 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5248_ceiling.xml [task_sampler.py: 797] +05/27 09:00:31 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5248, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 09:00:31 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 09:00:32 INFO: [Worker 0] randomize_scene: Setting poses for 79 objects [json_eval_task_sampler.py: 686] +05/27 09:00:32 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 09:00:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 09:00:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 09:00:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 09:00:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 09:00:32 INFO: [Worker 0] Sampled task 'Pick up the classic razor with wooden handle and place it next to the glossy green arrowhead shaped leaf' [task_sampler.py: 1136] +05/27 09:00:32 INFO: [Worker 0] Worker 0 house 5248 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 09:00:32 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 09:00:32 WARNING: [Worker 0] Could not find object objasteeringwheel_0b77970f7f984ce8ac5c0a03ed1fa1a8_1_0_5 in scene [object_manager.py: 1238] +05/27 09:00:32 WARNING: [Worker 0] Could not find object objamosaicfragment_780cc0fe43954935b548b72e5c9e129d_1_0_5 in scene [object_manager.py: 1238] +05/27 09:02:07 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 09:16:26 INFO: [Worker 0] Worker 0 house 5248 episode 0 object objastraightrazor_2d90a466a23f497f819a01e888edcb0a_2_0_8 completed with success=False [pipeline.py: 1114] +05/27 09:16:29 INFO: [Worker 0] Batching and saving trajectory data for house_5248: 1 episodes [pipeline.py: 233] +05/27 09:16:29 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 09:16:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 09:16:32 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5248 [save_utils.py: 703] +05/27 09:16:32 INFO: [Worker 0] Successfully saved trajectory data for house_5248 in 2.24s (batch: 2.15s, save: 0.09s) [pipeline.py: 280] +05/27 09:16:32 WARNING: [Worker 0] No trajectory data to save for house_5248 [pipeline.py: 229] +05/27 09:16:32 INFO: [Worker 0] Worker 0 completed house 5248: 0/1 successful episodes [pipeline.py: 1243] +05/27 09:16:32 INFO: [Worker 0] Worker 0 starting house 5418 (index 57/114) [pipeline.py: 473] +05/27 09:16:32 INFO: [Worker 0] Loaded 1 episodes for house 5418 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 09:16:32 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 09:16:33 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5418_ceiling.xml [task_sampler.py: 797] +05/27 09:16:33 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5418, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 09:16:33 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 09:16:33 INFO: [Worker 0] randomize_scene: Setting poses for 9 objects [json_eval_task_sampler.py: 686] +05/27 09:16:33 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 09:16:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 09:16:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 09:16:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 09:16:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 09:16:33 INFO: [Worker 0] Sampled task 'Pick up the mosaic fragment and place it next to the white toilet paper roll' [task_sampler.py: 1136] +05/27 09:16:33 INFO: [Worker 0] Worker 0 house 5418 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 09:16:33 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 09:19:18 INFO: [Worker 0] Worker 0 house 5418 episode 0 object objamosaicfragment_780cc0fe43954935b548b72e5c9e129d_1_0_2 completed with success=True [pipeline.py: 1114] +05/27 09:19:22 INFO: [Worker 0] Batching and saving trajectory data for house_5418: 1 episodes [pipeline.py: 233] +05/27 09:19:22 INFO: [Worker 0] Preparing episode data: 114 timesteps [save_utils.py: 284] +05/27 09:19:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 09:19:25 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5418 [save_utils.py: 703] +05/27 09:19:25 INFO: [Worker 0] Successfully saved trajectory data for house_5418 in 2.61s (batch: 2.57s, save: 0.04s) [pipeline.py: 280] +05/27 09:19:25 WARNING: [Worker 0] No trajectory data to save for house_5418 [pipeline.py: 229] +05/27 09:19:25 INFO: [Worker 0] Worker 0 completed house 5418: 1/1 successful episodes [pipeline.py: 1243] +05/27 09:19:25 INFO: [Worker 0] Worker 0 starting house 5507 (index 58/114) [pipeline.py: 473] +05/27 09:19:25 INFO: [Worker 0] Loaded 1 episodes for house 5507 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 09:19:25 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 09:19:36 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5507_ceiling.xml [task_sampler.py: 797] +05/27 09:19:36 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5507, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 09:19:36 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 09:19:36 INFO: [Worker 0] randomize_scene: Setting poses for 11 objects [json_eval_task_sampler.py: 686] +05/27 09:19:36 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 09:19:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 09:19:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 09:19:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 09:19:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 09:19:36 INFO: [Worker 0] Sampled task 'Pick up the gold headphones with red padding and place it next to the green smartphone with black touchscreen' [task_sampler.py: 1136] +05/27 09:19:36 INFO: [Worker 0] Worker 0 house 5507 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 09:19:36 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 09:23:16 INFO: [Worker 0] Worker 0 house 5507 episode 0 object objaheadphones_298b981b427947188a1b361bf65a2c98_1_0_2 completed with success=True [pipeline.py: 1114] +05/27 09:23:19 INFO: [Worker 0] Batching and saving trajectory data for house_5507: 1 episodes [pipeline.py: 233] +05/27 09:23:19 INFO: [Worker 0] Preparing episode data: 170 timesteps [save_utils.py: 284] +05/27 09:23:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 09:23:21 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5507 [save_utils.py: 703] +05/27 09:23:21 INFO: [Worker 0] Successfully saved trajectory data for house_5507 in 2.06s (batch: 2.01s, save: 0.05s) [pipeline.py: 280] +05/27 09:23:21 WARNING: [Worker 0] No trajectory data to save for house_5507 [pipeline.py: 229] +05/27 09:23:21 INFO: [Worker 0] Worker 0 completed house 5507: 1/1 successful episodes [pipeline.py: 1243] +05/27 09:23:21 INFO: [Worker 0] Worker 0 starting house 5578 (index 59/114) [pipeline.py: 473] +05/27 09:23:21 INFO: [Worker 0] Loaded 1 episodes for house 5578 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 09:23:21 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 09:23:32 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5578_ceiling.xml [task_sampler.py: 797] +05/27 09:23:32 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5578, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 09:23:32 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 09:23:32 INFO: [Worker 0] randomize_scene: Setting poses for 40 objects [json_eval_task_sampler.py: 686] +05/27 09:23:32 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 09:23:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 09:23:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 09:23:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 09:23:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 09:23:32 INFO: [Worker 0] Sampled task 'Pick up the textured red pomegranate and place it next to the fresh green lettuce' [task_sampler.py: 1136] +05/27 09:23:32 INFO: [Worker 0] Worker 0 house 5578 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 09:23:32 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 09:33:29 INFO: [Worker 0] Worker 0 house 5578 episode 0 object objapomegranate_af8ba5fe1b2744c1a70092eb44932a16_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 09:33:33 INFO: [Worker 0] Batching and saving trajectory data for house_5578: 1 episodes [pipeline.py: 233] +05/27 09:33:33 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 09:33:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 09:33:36 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5578 [save_utils.py: 703] +05/27 09:33:36 INFO: [Worker 0] Successfully saved trajectory data for house_5578 in 2.89s (batch: 2.80s, save: 0.09s) [pipeline.py: 280] +05/27 09:33:36 WARNING: [Worker 0] No trajectory data to save for house_5578 [pipeline.py: 229] +05/27 09:33:36 INFO: [Worker 0] Worker 0 completed house 5578: 0/1 successful episodes [pipeline.py: 1243] +05/27 09:33:36 INFO: [Worker 0] Worker 0 starting house 5632 (index 60/114) [pipeline.py: 473] +05/27 09:33:36 INFO: [Worker 0] Loaded 1 episodes for house 5632 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 09:33:36 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 09:34:02 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5632_ceiling.xml [task_sampler.py: 797] +05/27 09:34:02 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5632, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 09:34:02 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 09:34:02 INFO: [Worker 0] randomize_scene: Setting poses for 61 objects [json_eval_task_sampler.py: 686] +05/27 09:34:02 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 09:34:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 09:34:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 09:34:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 09:34:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 09:34:02 INFO: [Worker 0] Sampled task 'Pick up the white saturn v rocket with markings and place it next to the orange plaid pillow cushion' [task_sampler.py: 1136] +05/27 09:34:02 INFO: [Worker 0] Worker 0 house 5632 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 09:34:02 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 09:35:37 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 09:39:24 INFO: [Worker 0] Worker 0 house 5632 episode 0 object objamodelrocket_782d80395e25463a815a92e883c86c02_1_0_9 completed with success=False [pipeline.py: 1114] +05/27 09:39:28 INFO: [Worker 0] Batching and saving trajectory data for house_5632: 1 episodes [pipeline.py: 233] +05/27 09:39:28 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 09:39:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 09:39:31 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5632 [save_utils.py: 703] +05/27 09:39:31 INFO: [Worker 0] Successfully saved trajectory data for house_5632 in 2.86s (batch: 2.77s, save: 0.09s) [pipeline.py: 280] +05/27 09:39:32 WARNING: [Worker 0] No trajectory data to save for house_5632 [pipeline.py: 229] +05/27 09:39:32 INFO: [Worker 0] Worker 0 completed house 5632: 0/1 successful episodes [pipeline.py: 1243] +05/27 09:39:32 INFO: [Worker 0] Worker 0 starting house 5708 (index 61/114) [pipeline.py: 473] +05/27 09:39:32 INFO: [Worker 0] Loaded 1 episodes for house 5708 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 09:39:32 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 09:40:07 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5708_ceiling.xml [task_sampler.py: 797] +05/27 09:40:07 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5708, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 09:40:07 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 09:40:07 INFO: [Worker 0] randomize_scene: Setting poses for 103 objects [json_eval_task_sampler.py: 686] +05/27 09:40:07 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 09:40:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 09:40:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 09:40:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 09:40:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 09:40:07 INFO: [Worker 0] Sampled task 'Pick up the amber cylindrical prescription pill bottle and place it next to the foodstuff' [task_sampler.py: 1136] +05/27 09:40:07 INFO: [Worker 0] Worker 0 house 5708 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 09:40:07 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 09:40:07 WARNING: [Worker 0] Could not find object objacoil_c4fcd63753e740aa9efac5edfe7a7506_1_0_9 in scene [object_manager.py: 1238] +05/27 09:40:07 WARNING: [Worker 0] Could not find object objadecorativeaccessory_e47911ac361a45c3b6c7f2f1d9071876_1_0_9 in scene [object_manager.py: 1238] +05/27 10:00:43 INFO: [Worker 0] Worker 0 house 5708 episode 0 object objapillbottle_7339a87dac884f1e8aeed3bf80dc0a5f_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 10:00:46 INFO: [Worker 0] Batching and saving trajectory data for house_5708: 1 episodes [pipeline.py: 233] +05/27 10:00:46 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 10:00:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 10:00:48 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5708 [save_utils.py: 703] +05/27 10:00:48 INFO: [Worker 0] Successfully saved trajectory data for house_5708 in 2.30s (batch: 2.21s, save: 0.09s) [pipeline.py: 280] +05/27 10:00:49 WARNING: [Worker 0] No trajectory data to save for house_5708 [pipeline.py: 229] +05/27 10:00:49 INFO: [Worker 0] Worker 0 completed house 5708: 0/1 successful episodes [pipeline.py: 1243] +05/27 10:00:49 INFO: [Worker 0] Worker 0 starting house 5836 (index 62/114) [pipeline.py: 473] +05/27 10:00:49 INFO: [Worker 0] Loaded 1 episodes for house 5836 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 10:00:49 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 10:00:58 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5836_ceiling.xml [task_sampler.py: 797] +05/27 10:00:58 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5836, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 10:00:58 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 10:00:58 INFO: [Worker 0] randomize_scene: Setting poses for 52 objects [json_eval_task_sampler.py: 686] +05/27 10:00:58 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 10:00:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 10:00:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 10:00:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 10:00:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 10:00:58 INFO: [Worker 0] Sampled task 'Pick up the dark metal hinge with pivot and place it next to the dark muscular statue standing dynamically' [task_sampler.py: 1136] +05/27 10:00:58 INFO: [Worker 0] Worker 0 house 5836 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 10:00:58 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 10:00:58 WARNING: [Worker 0] Could not find object objaheadband_d49545a5b65a40bcade1370176d8950a_1_0_5 in scene [object_manager.py: 1238] +05/27 10:00:58 WARNING: [Worker 0] Could not find object objadentures_4fc005a4bb9f4ed49ad3b5255e87e720_1_0_5 in scene [object_manager.py: 1238] +05/27 10:02:40 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 10:13:04 INFO: [Worker 0] Worker 0 house 5836 episode 0 object objahinge_d443380245cb4898bc96b341d37bcd43_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 10:13:07 INFO: [Worker 0] Batching and saving trajectory data for house_5836: 1 episodes [pipeline.py: 233] +05/27 10:13:07 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 10:13:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 10:13:09 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5836 [save_utils.py: 703] +05/27 10:13:09 INFO: [Worker 0] Successfully saved trajectory data for house_5836 in 2.26s (batch: 2.16s, save: 0.09s) [pipeline.py: 280] +05/27 10:13:10 WARNING: [Worker 0] No trajectory data to save for house_5836 [pipeline.py: 229] +05/27 10:13:10 INFO: [Worker 0] Worker 0 completed house 5836: 0/1 successful episodes [pipeline.py: 1243] +05/27 10:13:10 INFO: [Worker 0] Worker 0 starting house 5907 (index 63/114) [pipeline.py: 473] +05/27 10:13:10 INFO: [Worker 0] Loaded 1 episodes for house 5907 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 10:13:10 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 10:13:40 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5907_ceiling.xml [task_sampler.py: 797] +05/27 10:13:40 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5907, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 10:13:40 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 10:13:40 INFO: [Worker 0] randomize_scene: Setting poses for 79 objects [json_eval_task_sampler.py: 686] +05/27 10:13:40 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 10:13:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 10:13:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 10:13:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 10:13:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 10:13:40 INFO: [Worker 0] Sampled task 'Pick up the serene stone statue with patterned robe and place it next to the silver bullet with red band tip' [task_sampler.py: 1136] +05/27 10:13:40 INFO: [Worker 0] Worker 0 house 5907 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 10:13:40 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 10:13:40 WARNING: [Worker 0] Could not find object objaspraycan_f761c777f54e414dba0b54dbab6453c7_1_0_5 in scene [object_manager.py: 1238] +05/27 10:15:16 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 10:30:55 INFO: [Worker 0] Worker 0 house 5907 episode 0 object objastatue_a8e9e70f3ca14aa7a21b3e9ac2eacbd9_1_0_4 completed with success=False [pipeline.py: 1114] +05/27 10:30:58 INFO: [Worker 0] Batching and saving trajectory data for house_5907: 1 episodes [pipeline.py: 233] +05/27 10:30:58 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 10:31:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 10:31:00 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5907 [save_utils.py: 703] +05/27 10:31:00 INFO: [Worker 0] Successfully saved trajectory data for house_5907 in 2.26s (batch: 2.14s, save: 0.12s) [pipeline.py: 280] +05/27 10:31:00 WARNING: [Worker 0] No trajectory data to save for house_5907 [pipeline.py: 229] +05/27 10:31:00 INFO: [Worker 0] Worker 0 completed house 5907: 0/1 successful episodes [pipeline.py: 1243] +05/27 10:31:00 INFO: [Worker 0] Worker 0 starting house 5980 (index 64/114) [pipeline.py: 473] +05/27 10:31:00 INFO: [Worker 0] Loaded 1 episodes for house 5980 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 10:31:00 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 10:31:23 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5980_ceiling.xml [task_sampler.py: 797] +05/27 10:31:23 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5980, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 10:31:23 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 10:31:23 INFO: [Worker 0] randomize_scene: Setting poses for 84 objects [json_eval_task_sampler.py: 686] +05/27 10:31:23 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 10:31:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 10:31:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 10:31:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 10:31:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 10:31:23 INFO: [Worker 0] Sampled task 'Pick up the hand axe and place it next to the slim pink cellphone with buttons' [task_sampler.py: 1136] +05/27 10:31:23 INFO: [Worker 0] Worker 0 house 5980 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 10:31:23 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 10:31:23 WARNING: [Worker 0] Could not find object objaminiaturelighthouse_bde6dcab0a89413eba4422da59f19cef_1_0_5 in scene [object_manager.py: 1238] +05/27 10:33:01 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 10:47:22 INFO: [Worker 0] Worker 0 house 5980 episode 0 object objahandaxe_b0b87362f235438dbd703daa13551696_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 10:47:27 INFO: [Worker 0] Batching and saving trajectory data for house_5980: 1 episodes [pipeline.py: 233] +05/27 10:47:27 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 10:47:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 10:47:30 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5980 [save_utils.py: 703] +05/27 10:47:30 INFO: [Worker 0] Successfully saved trajectory data for house_5980 in 2.98s (batch: 2.89s, save: 0.09s) [pipeline.py: 280] +05/27 10:47:30 WARNING: [Worker 0] No trajectory data to save for house_5980 [pipeline.py: 229] +05/27 10:47:30 INFO: [Worker 0] Worker 0 completed house 5980: 0/1 successful episodes [pipeline.py: 1243] +05/27 10:47:30 INFO: [Worker 0] Worker 0 starting house 6083 (index 65/114) [pipeline.py: 473] +05/27 10:47:30 INFO: [Worker 0] Loaded 1 episodes for house 6083 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 10:47:30 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 10:47:44 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6083_ceiling.xml [task_sampler.py: 797] +05/27 10:47:44 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6083, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 10:47:44 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 10:47:44 INFO: [Worker 0] randomize_scene: Setting poses for 36 objects [json_eval_task_sampler.py: 686] +05/27 10:47:44 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 10:47:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 10:47:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 10:47:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 10:47:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 10:47:44 INFO: [Worker 0] Sampled task 'Pick up the gray stone and place it next to the detailed red and white race car' [task_sampler.py: 1136] +05/27 10:47:44 INFO: [Worker 0] Worker 0 house 6083 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 10:47:44 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 10:49:26 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 11:00:23 INFO: [Worker 0] Worker 0 house 6083 episode 0 object objastoneartifact_fc6cadc870a841cc8edb35bc21f9a004_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 11:00:27 INFO: [Worker 0] Batching and saving trajectory data for house_6083: 1 episodes [pipeline.py: 233] +05/27 11:00:27 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 11:00:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 11:00:30 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6083 [save_utils.py: 703] +05/27 11:00:30 INFO: [Worker 0] Successfully saved trajectory data for house_6083 in 2.93s (batch: 2.83s, save: 0.09s) [pipeline.py: 280] +05/27 11:00:30 WARNING: [Worker 0] No trajectory data to save for house_6083 [pipeline.py: 229] +05/27 11:00:30 INFO: [Worker 0] Worker 0 completed house 6083: 0/1 successful episodes [pipeline.py: 1243] +05/27 11:00:30 INFO: [Worker 0] Worker 0 starting house 6153 (index 66/114) [pipeline.py: 473] +05/27 11:00:30 INFO: [Worker 0] Loaded 1 episodes for house 6153 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 11:00:30 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 11:00:37 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6153_ceiling.xml [task_sampler.py: 797] +05/27 11:00:37 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6153, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 11:00:37 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 11:00:37 INFO: [Worker 0] randomize_scene: Setting poses for 20 objects [json_eval_task_sampler.py: 686] +05/27 11:00:37 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 11:00:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 11:00:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 11:00:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 11:00:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 11:00:37 INFO: [Worker 0] Sampled task 'Pick up the soapdispenser and place it next to the spray' [task_sampler.py: 1136] +05/27 11:00:37 INFO: [Worker 0] Worker 0 house 6153 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 11:00:37 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 11:02:15 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 11:07:28 INFO: [Worker 0] Worker 0 house 6153 episode 0 object soapdispenser_4d425f15f8385d9b5381f2b606372c15_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 11:07:32 INFO: [Worker 0] Batching and saving trajectory data for house_6153: 1 episodes [pipeline.py: 233] +05/27 11:07:32 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 11:07:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 11:07:35 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6153 [save_utils.py: 703] +05/27 11:07:35 INFO: [Worker 0] Successfully saved trajectory data for house_6153 in 2.99s (batch: 2.90s, save: 0.09s) [pipeline.py: 280] +05/27 11:07:36 WARNING: [Worker 0] No trajectory data to save for house_6153 [pipeline.py: 229] +05/27 11:07:36 INFO: [Worker 0] Worker 0 completed house 6153: 0/1 successful episodes [pipeline.py: 1243] +05/27 11:07:36 INFO: [Worker 0] Worker 0 starting house 6240 (index 67/114) [pipeline.py: 473] +05/27 11:07:36 INFO: [Worker 0] Loaded 1 episodes for house 6240 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 11:07:36 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 11:08:14 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6240_ceiling.xml [task_sampler.py: 797] +05/27 11:08:14 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6240, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 11:08:14 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 11:08:14 INFO: [Worker 0] randomize_scene: Setting poses for 48 objects [json_eval_task_sampler.py: 686] +05/27 11:08:14 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 11:08:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 11:08:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 11:08:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 11:08:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 11:08:14 INFO: [Worker 0] Sampled task 'Pick up the rusty spray paint can with blue and place it next to the blue bomb with white skull emblem' [task_sampler.py: 1136] +05/27 11:08:14 INFO: [Worker 0] Worker 0 house 6240 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 11:08:14 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 11:08:14 WARNING: [Worker 0] Could not find object objasportsshoe_6b4506025d2e4c38bf943c377e53a82b_1_0_3 in scene [object_manager.py: 1238] +05/27 11:08:14 WARNING: [Worker 0] Could not find object objapocketwatch_1dbb7462a3e04e918023f6fec7743ee2_1_0_3 in scene [object_manager.py: 1238] +05/27 11:22:14 INFO: [Worker 0] Worker 0 house 6240 episode 0 object objaspraypaintcan_9e725e49c0074fc0a1a08cacc85ee898_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 11:22:18 INFO: [Worker 0] Batching and saving trajectory data for house_6240: 1 episodes [pipeline.py: 233] +05/27 11:22:18 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 11:22:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 11:22:20 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6240 [save_utils.py: 703] +05/27 11:22:20 INFO: [Worker 0] Successfully saved trajectory data for house_6240 in 2.82s (batch: 2.73s, save: 0.09s) [pipeline.py: 280] +05/27 11:22:21 WARNING: [Worker 0] No trajectory data to save for house_6240 [pipeline.py: 229] +05/27 11:22:21 INFO: [Worker 0] Worker 0 completed house 6240: 0/1 successful episodes [pipeline.py: 1243] +05/27 11:22:21 INFO: [Worker 0] Worker 0 starting house 6287 (index 68/114) [pipeline.py: 473] +05/27 11:22:21 INFO: [Worker 0] Loaded 1 episodes for house 6287 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 11:22:21 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 11:22:29 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6287_ceiling.xml [task_sampler.py: 797] +05/27 11:22:29 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6287, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 11:22:29 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 11:22:29 INFO: [Worker 0] randomize_scene: Setting poses for 33 objects [json_eval_task_sampler.py: 686] +05/27 11:22:29 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 11:22:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 11:22:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 11:22:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 11:22:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 11:22:29 INFO: [Worker 0] Sampled task 'Pick up the black hat yellow plume and place it next to the green lenses on night vision goggles' [task_sampler.py: 1136] +05/27 11:22:29 INFO: [Worker 0] Worker 0 house 6287 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 11:22:29 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 11:22:29 WARNING: [Worker 0] Could not find object objabenchvise_2db685641caa42d9bc57d38edeff0264_1_0_7 in scene [object_manager.py: 1238] +05/27 11:22:29 WARNING: [Worker 0] Could not find object plate_b137b580936425a0757a2df506ec58fb_1_0_7 in scene [object_manager.py: 1238] +05/27 11:24:04 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 11:34:18 INFO: [Worker 0] Worker 0 house 6287 episode 0 object objamarchingbandhat_04ca4cc9ff7c4546a438d55c727fc557_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 11:34:22 INFO: [Worker 0] Batching and saving trajectory data for house_6287: 1 episodes [pipeline.py: 233] +05/27 11:34:22 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 11:34:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 11:34:25 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6287 [save_utils.py: 703] +05/27 11:34:25 INFO: [Worker 0] Successfully saved trajectory data for house_6287 in 2.83s (batch: 2.72s, save: 0.10s) [pipeline.py: 280] +05/27 11:34:26 WARNING: [Worker 0] No trajectory data to save for house_6287 [pipeline.py: 229] +05/27 11:34:26 INFO: [Worker 0] Worker 0 completed house 6287: 0/1 successful episodes [pipeline.py: 1243] +05/27 11:34:26 INFO: [Worker 0] Worker 0 starting house 6348 (index 69/114) [pipeline.py: 473] +05/27 11:34:26 INFO: [Worker 0] Loaded 1 episodes for house 6348 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 11:34:26 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 11:34:48 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6348_ceiling.xml [task_sampler.py: 797] +05/27 11:34:48 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6348, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 11:34:48 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 11:34:48 INFO: [Worker 0] randomize_scene: Setting poses for 64 objects [json_eval_task_sampler.py: 686] +05/27 11:34:48 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 11:34:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 11:34:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 11:34:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 11:34:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 11:34:48 INFO: [Worker 0] Sampled task 'Pick up the brown moth and place it next to the rectangular dark teal box' [task_sampler.py: 1136] +05/27 11:34:48 INFO: [Worker 0] Worker 0 house 6348 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 11:34:48 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 11:34:48 WARNING: [Worker 0] Could not find object objatoy_7cdbd80a08da45d2af76ae9f0f00f280_1_0_4 in scene [object_manager.py: 1238] +05/27 11:34:48 WARNING: [Worker 0] Could not find object objamoth_c776c4a1d0a447388a8808dab3817af9_1_0_4 in scene [object_manager.py: 1238] +05/27 11:50:08 INFO: [Worker 0] Worker 0 house 6348 episode 0 object objamoth_c4c8eb2f231447009230db56835f76a7_1_0_4 completed with success=False [pipeline.py: 1114] +05/27 11:50:11 INFO: [Worker 0] Batching and saving trajectory data for house_6348: 1 episodes [pipeline.py: 233] +05/27 11:50:11 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 11:50:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 11:50:13 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6348 [save_utils.py: 703] +05/27 11:50:13 INFO: [Worker 0] Successfully saved trajectory data for house_6348 in 2.28s (batch: 2.19s, save: 0.09s) [pipeline.py: 280] +05/27 11:50:14 WARNING: [Worker 0] No trajectory data to save for house_6348 [pipeline.py: 229] +05/27 11:50:14 INFO: [Worker 0] Worker 0 completed house 6348: 0/1 successful episodes [pipeline.py: 1243] +05/27 11:50:14 INFO: [Worker 0] Worker 0 starting house 6403 (index 70/114) [pipeline.py: 473] +05/27 11:50:14 INFO: [Worker 0] Loaded 1 episodes for house 6403 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 11:50:14 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 11:50:25 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6403_ceiling.xml [task_sampler.py: 797] +05/27 11:50:25 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6403, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 11:50:25 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 11:50:25 INFO: [Worker 0] randomize_scene: Setting poses for 37 objects [json_eval_task_sampler.py: 686] +05/27 11:50:25 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 11:50:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 11:50:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 11:50:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 11:50:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 11:50:25 INFO: [Worker 0] Sampled task 'Pick up the vintage red wall-mounted rotary telephone and place it next to the light blue labeled cleaning bottle' [task_sampler.py: 1136] +05/27 11:50:25 INFO: [Worker 0] Worker 0 house 6403 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 11:50:25 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 12:00:27 INFO: [Worker 0] Worker 0 house 6403 episode 0 object objarotarytelephone_0beb78c11c0f4537a27c53f8e46ddb86_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 12:00:31 INFO: [Worker 0] Batching and saving trajectory data for house_6403: 1 episodes [pipeline.py: 233] +05/27 12:00:31 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 12:00:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 12:00:33 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6403 [save_utils.py: 703] +05/27 12:00:33 INFO: [Worker 0] Successfully saved trajectory data for house_6403 in 2.82s (batch: 2.73s, save: 0.09s) [pipeline.py: 280] +05/27 12:00:34 WARNING: [Worker 0] No trajectory data to save for house_6403 [pipeline.py: 229] +05/27 12:00:34 INFO: [Worker 0] Worker 0 completed house 6403: 0/1 successful episodes [pipeline.py: 1243] +05/27 12:00:34 INFO: [Worker 0] Worker 0 starting house 6515 (index 71/114) [pipeline.py: 473] +05/27 12:00:34 INFO: [Worker 0] Loaded 1 episodes for house 6515 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 12:00:34 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 12:00:39 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6515_ceiling.xml [task_sampler.py: 797] +05/27 12:00:39 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6515, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 12:00:39 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 12:00:39 INFO: [Worker 0] randomize_scene: Setting poses for 64 objects [json_eval_task_sampler.py: 686] +05/27 12:00:39 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 12:00:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 12:00:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 12:00:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 12:00:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 12:00:39 INFO: [Worker 0] Sampled task 'Pick up the red torii gate with black and place it next to the tall black top hat' [task_sampler.py: 1136] +05/27 12:00:39 INFO: [Worker 0] Worker 0 house 6515 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 12:00:39 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 12:00:39 WARNING: [Worker 0] Could not find object objadecorativepanel_a17676f45b3d483c9dc1910a2eb17269_1_0_2 in scene [object_manager.py: 1238] +05/27 12:02:16 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 12:04:26 INFO: [Worker 0] Worker 0 house 6515 episode 0 object objaminiaturemodel_5ab1392182d345b49b3391f7776339e9_1_0_5 completed with success=True [pipeline.py: 1114] +05/27 12:04:30 INFO: [Worker 0] Batching and saving trajectory data for house_6515: 1 episodes [pipeline.py: 233] +05/27 12:04:30 INFO: [Worker 0] Preparing episode data: 86 timesteps [save_utils.py: 284] +05/27 12:04:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 12:04:33 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6515 [save_utils.py: 703] +05/27 12:04:33 INFO: [Worker 0] Successfully saved trajectory data for house_6515 in 2.58s (batch: 2.55s, save: 0.03s) [pipeline.py: 280] +05/27 12:04:33 WARNING: [Worker 0] No trajectory data to save for house_6515 [pipeline.py: 229] +05/27 12:04:33 INFO: [Worker 0] Worker 0 completed house 6515: 1/1 successful episodes [pipeline.py: 1243] +05/27 12:04:33 INFO: [Worker 0] Worker 0 starting house 6616 (index 72/114) [pipeline.py: 473] +05/27 12:04:33 INFO: [Worker 0] Loaded 1 episodes for house 6616 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 12:04:33 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 12:04:59 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6616_ceiling.xml [task_sampler.py: 797] +05/27 12:04:59 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6616, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 12:04:59 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 12:04:59 INFO: [Worker 0] randomize_scene: Setting poses for 73 objects [json_eval_task_sampler.py: 686] +05/27 12:04:59 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 12:04:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 12:04:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 12:04:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 12:04:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 12:04:59 INFO: [Worker 0] Sampled task 'Pick up the round metallic lid with handle and place it next to the small red potato with texture' [task_sampler.py: 1136] +05/27 12:04:59 INFO: [Worker 0] Worker 0 house 6616 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 12:04:59 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 12:05:00 WARNING: [Worker 0] Could not find object objaphonecase_99fa689a1f66458ba5025088aebd974e_1_0_8 in scene [object_manager.py: 1238] +05/27 12:05:00 WARNING: [Worker 0] Could not find object cup_10bb4374affb6510642adcfd03f48701_1_0_8 in scene [object_manager.py: 1238] +05/27 12:06:35 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 12:19:42 INFO: [Worker 0] Worker 0 house 6616 episode 0 object objalid_dfddb32ab2c64ee2a96f905feb9d467f_1_0_8 completed with success=False [pipeline.py: 1114] +05/27 12:19:46 INFO: [Worker 0] Batching and saving trajectory data for house_6616: 1 episodes [pipeline.py: 233] +05/27 12:19:46 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 12:19:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 12:19:49 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6616 [save_utils.py: 703] +05/27 12:19:49 INFO: [Worker 0] Successfully saved trajectory data for house_6616 in 2.89s (batch: 2.80s, save: 0.09s) [pipeline.py: 280] +05/27 12:19:50 WARNING: [Worker 0] No trajectory data to save for house_6616 [pipeline.py: 229] +05/27 12:19:50 INFO: [Worker 0] Worker 0 completed house 6616: 0/1 successful episodes [pipeline.py: 1243] +05/27 12:19:50 INFO: [Worker 0] Worker 0 starting house 6733 (index 73/114) [pipeline.py: 473] +05/27 12:19:50 INFO: [Worker 0] Loaded 1 episodes for house 6733 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 12:19:50 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 12:20:04 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6733_ceiling.xml [task_sampler.py: 797] +05/27 12:20:04 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6733, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 12:20:04 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 12:20:04 INFO: [Worker 0] randomize_scene: Setting poses for 67 objects [json_eval_task_sampler.py: 686] +05/27 12:20:04 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 12:20:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 12:20:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 12:20:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 12:20:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 12:20:04 INFO: [Worker 0] Sampled task 'Pick up the wooden pestle with jagged top and place it next to the white ceramic vase with ridges' [task_sampler.py: 1136] +05/27 12:20:04 INFO: [Worker 0] Worker 0 house 6733 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 12:20:04 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 12:21:38 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 12:35:50 INFO: [Worker 0] Worker 0 house 6733 episode 0 object objapestle_668fa2b7443e423f8b0d252d82a3d100_1_0_8 completed with success=False [pipeline.py: 1114] +05/27 12:35:54 INFO: [Worker 0] Batching and saving trajectory data for house_6733: 1 episodes [pipeline.py: 233] +05/27 12:35:54 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 12:35:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 12:35:57 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6733 [save_utils.py: 703] +05/27 12:35:57 INFO: [Worker 0] Successfully saved trajectory data for house_6733 in 2.92s (batch: 2.83s, save: 0.09s) [pipeline.py: 280] +05/27 12:35:57 WARNING: [Worker 0] No trajectory data to save for house_6733 [pipeline.py: 229] +05/27 12:35:57 INFO: [Worker 0] Worker 0 completed house 6733: 0/1 successful episodes [pipeline.py: 1243] +05/27 12:35:57 INFO: [Worker 0] Worker 0 starting house 6787 (index 74/114) [pipeline.py: 473] +05/27 12:35:57 INFO: [Worker 0] Loaded 2 episodes for house 6787 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 12:35:57 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 12:36:14 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6787_ceiling.xml [task_sampler.py: 797] +05/27 12:36:14 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6787, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 12:36:14 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 12:36:14 INFO: [Worker 0] randomize_scene: Setting poses for 52 objects [json_eval_task_sampler.py: 686] +05/27 12:36:14 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 12:36:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 12:36:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 12:36:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 12:36:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 12:36:14 INFO: [Worker 0] Sampled task 'Pick up the glossy dark angular architectural cornice and place it next to the plesiosaurus' [task_sampler.py: 1136] +05/27 12:36:14 INFO: [Worker 0] Worker 0 house 6787 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/27 12:36:14 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 12:50:22 INFO: [Worker 0] Worker 0 house 6787 episode 0 object objaarchitecturalmolding_f13cbb13a3ac48f4bd7e1dd9187a55d6_1_0_8 completed with success=False [pipeline.py: 1114] +05/27 12:50:26 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 12:50:30 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6787_ceiling.xml [task_sampler.py: 797] +05/27 12:50:30 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6787, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 12:50:30 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 12:50:30 INFO: [Worker 0] randomize_scene: Setting poses for 52 objects [json_eval_task_sampler.py: 686] +05/27 12:50:30 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 12:50:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 12:50:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 12:50:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 12:50:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 12:50:30 INFO: [Worker 0] Sampled task 'Pick up the black vr headset with antennas and place it next to the shiny metallic key with notches' [task_sampler.py: 1136] +05/27 12:50:30 INFO: [Worker 0] Worker 0 house 6787 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/27 12:50:30 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 12:52:05 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 13:04:25 INFO: [Worker 0] Worker 0 house 6787 episode 1 object objavirtualrealityheadset_3cd83343e5c6450db20895a88fbd4de2_1_0_4 completed with success=False [pipeline.py: 1114] +05/27 13:04:29 INFO: [Worker 0] Batching and saving trajectory data for house_6787: 2 episodes [pipeline.py: 233] +05/27 13:04:29 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 13:04:32 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 13:04:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 13:04:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 13:04:35 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6787 [save_utils.py: 703] +05/27 13:04:35 INFO: [Worker 0] Successfully saved trajectory data for house_6787 in 5.69s (batch: 5.52s, save: 0.17s) [pipeline.py: 280] +05/27 13:04:35 WARNING: [Worker 0] No trajectory data to save for house_6787 [pipeline.py: 229] +05/27 13:04:35 INFO: [Worker 0] Worker 0 completed house 6787: 0/2 successful episodes [pipeline.py: 1243] +05/27 13:04:35 INFO: [Worker 0] Worker 0 starting house 6819 (index 75/114) [pipeline.py: 473] +05/27 13:04:35 INFO: [Worker 0] Loaded 1 episodes for house 6819 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 13:04:35 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 13:04:39 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6819_ceiling.xml [task_sampler.py: 797] +05/27 13:04:39 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6819, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 13:04:39 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 13:04:39 INFO: [Worker 0] randomize_scene: Setting poses for 40 objects [json_eval_task_sampler.py: 686] +05/27 13:04:39 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 13:04:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 13:04:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 13:04:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 13:04:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 13:04:39 INFO: [Worker 0] Sampled task 'Pick up the robust metal door lock mechanism and place it next to the bulbous shiny gold vase' [task_sampler.py: 1136] +05/27 13:04:39 INFO: [Worker 0] Worker 0 house 6819 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 13:04:39 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 13:06:13 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 13:14:53 INFO: [Worker 0] Worker 0 house 6819 episode 0 object objadoorlock_3d56a40e1bae492b89072f71651d2d63_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 13:14:56 INFO: [Worker 0] Batching and saving trajectory data for house_6819: 1 episodes [pipeline.py: 233] +05/27 13:14:56 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 13:14:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 13:14:58 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6819 [save_utils.py: 703] +05/27 13:14:58 INFO: [Worker 0] Successfully saved trajectory data for house_6819 in 2.30s (batch: 2.21s, save: 0.09s) [pipeline.py: 280] +05/27 13:14:59 WARNING: [Worker 0] No trajectory data to save for house_6819 [pipeline.py: 229] +05/27 13:14:59 INFO: [Worker 0] Worker 0 completed house 6819: 0/1 successful episodes [pipeline.py: 1243] +05/27 13:14:59 INFO: [Worker 0] Worker 0 starting house 6930 (index 76/114) [pipeline.py: 473] +05/27 13:14:59 INFO: [Worker 0] Loaded 1 episodes for house 6930 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 13:14:59 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 13:15:20 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6930_ceiling.xml [task_sampler.py: 797] +05/27 13:15:20 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6930, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 13:15:20 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 13:15:20 INFO: [Worker 0] randomize_scene: Setting poses for 77 objects [json_eval_task_sampler.py: 686] +05/27 13:15:20 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 13:15:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 13:15:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 13:15:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 13:15:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 13:15:20 INFO: [Worker 0] Sampled task 'Pick up the nightvisiongoggles and place it next to the glossy blue vase' [task_sampler.py: 1136] +05/27 13:15:20 INFO: [Worker 0] Worker 0 house 6930 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 13:15:20 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 13:15:20 WARNING: [Worker 0] Could not find object objatapedispenser_fdf53823d30f4fed9a5423d6b6cbfad1_1_0_5 in scene [object_manager.py: 1238] +05/27 13:16:56 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 13:31:35 INFO: [Worker 0] Worker 0 house 6930 episode 0 object objanightvisiongoggles_396b90fb83cb4f06b96b1f9a120af75b_1_0_4 completed with success=False [pipeline.py: 1114] +05/27 13:31:39 INFO: [Worker 0] Batching and saving trajectory data for house_6930: 1 episodes [pipeline.py: 233] +05/27 13:31:39 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 13:31:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 13:31:42 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6930 [save_utils.py: 703] +05/27 13:31:42 INFO: [Worker 0] Successfully saved trajectory data for house_6930 in 2.89s (batch: 2.80s, save: 0.09s) [pipeline.py: 280] +05/27 13:31:43 WARNING: [Worker 0] No trajectory data to save for house_6930 [pipeline.py: 229] +05/27 13:31:43 INFO: [Worker 0] Worker 0 completed house 6930: 0/1 successful episodes [pipeline.py: 1243] +05/27 13:31:43 INFO: [Worker 0] Worker 0 starting house 6991 (index 77/114) [pipeline.py: 473] +05/27 13:31:43 INFO: [Worker 0] Loaded 1 episodes for house 6991 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 13:31:43 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 13:31:54 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6991_ceiling.xml [task_sampler.py: 797] +05/27 13:31:54 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6991, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 13:31:54 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 13:31:54 INFO: [Worker 0] randomize_scene: Setting poses for 23 objects [json_eval_task_sampler.py: 686] +05/27 13:31:54 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 13:31:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 13:31:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 13:31:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 13:31:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 13:31:54 INFO: [Worker 0] Sampled task 'Pick up the gray stone arrowhead with pink and place it next to the white rabbit pink eyes' [task_sampler.py: 1136] +05/27 13:31:54 INFO: [Worker 0] Worker 0 house 6991 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 13:31:55 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 13:33:31 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 13:41:12 INFO: [Worker 0] Worker 0 house 6991 episode 0 object objaarrowhead_a3ba93523eed41f69c1e55e55ebb7789_1_0_3 completed with success=False [pipeline.py: 1114] +05/27 13:41:15 INFO: [Worker 0] Batching and saving trajectory data for house_6991: 1 episodes [pipeline.py: 233] +05/27 13:41:15 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 13:41:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 13:41:17 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6991 [save_utils.py: 703] +05/27 13:41:17 INFO: [Worker 0] Successfully saved trajectory data for house_6991 in 2.24s (batch: 2.15s, save: 0.09s) [pipeline.py: 280] +05/27 13:41:18 WARNING: [Worker 0] No trajectory data to save for house_6991 [pipeline.py: 229] +05/27 13:41:18 INFO: [Worker 0] Worker 0 completed house 6991: 0/1 successful episodes [pipeline.py: 1243] +05/27 13:41:18 INFO: [Worker 0] Worker 0 starting house 7043 (index 78/114) [pipeline.py: 473] +05/27 13:41:18 INFO: [Worker 0] Loaded 1 episodes for house 7043 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 13:41:18 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 13:41:26 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7043_ceiling.xml [task_sampler.py: 797] +05/27 13:41:26 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7043, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 13:41:26 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 13:41:26 INFO: [Worker 0] randomize_scene: Setting poses for 40 objects [json_eval_task_sampler.py: 686] +05/27 13:41:26 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 13:41:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 13:41:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 13:41:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 13:41:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 13:41:26 INFO: [Worker 0] Sampled task 'Pick up the eye model and place it next to the medium red apple' [task_sampler.py: 1136] +05/27 13:41:26 INFO: [Worker 0] Worker 0 house 7043 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 13:41:26 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 13:43:07 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 13:54:33 INFO: [Worker 0] Worker 0 house 7043 episode 0 object objaeyemodel_bba987e54f5d4724b9ffb799c8d98895_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 13:54:37 INFO: [Worker 0] Batching and saving trajectory data for house_7043: 1 episodes [pipeline.py: 233] +05/27 13:54:37 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 13:54:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 13:54:40 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7043 [save_utils.py: 703] +05/27 13:54:40 INFO: [Worker 0] Successfully saved trajectory data for house_7043 in 2.85s (batch: 2.76s, save: 0.09s) [pipeline.py: 280] +05/27 13:54:40 WARNING: [Worker 0] No trajectory data to save for house_7043 [pipeline.py: 229] +05/27 13:54:40 INFO: [Worker 0] Worker 0 completed house 7043: 0/1 successful episodes [pipeline.py: 1243] +05/27 13:54:40 INFO: [Worker 0] Worker 0 starting house 7126 (index 79/114) [pipeline.py: 473] +05/27 13:54:40 INFO: [Worker 0] Loaded 1 episodes for house 7126 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 13:54:40 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 13:55:18 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7126_ceiling.xml [task_sampler.py: 797] +05/27 13:55:18 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7126, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 13:55:18 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 13:55:18 INFO: [Worker 0] randomize_scene: Setting poses for 57 objects [json_eval_task_sampler.py: 686] +05/27 13:55:18 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 13:55:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 13:55:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 13:55:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 13:55:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 13:55:18 INFO: [Worker 0] Sampled task 'Pick up the yellow truck with gray container trailer and place it next to the neuron model' [task_sampler.py: 1136] +05/27 13:55:18 INFO: [Worker 0] Worker 0 house 7126 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 13:55:18 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 13:55:18 WARNING: [Worker 0] Could not find object objapocketwatch_dbb40c6f9226401f88230d46a12fa50f_1_0_5 in scene [object_manager.py: 1238] +05/27 13:55:18 WARNING: [Worker 0] Could not find object fabric_fd3d318bb4ba7328dec20b40c6504241_1_0_5 in scene [object_manager.py: 1238] +05/27 13:55:18 WARNING: [Worker 0] Could not find object objaspraycan_c6c66c606c2f44d1b6c263426c1953ff_1_0_7 in scene [object_manager.py: 1238] +05/27 14:10:46 INFO: [Worker 0] Worker 0 house 7126 episode 0 object objatoytruck_2819f02722574b59b5efc5c3e62f3b2c_1_0_9 completed with success=False [pipeline.py: 1114] +05/27 14:10:50 INFO: [Worker 0] Batching and saving trajectory data for house_7126: 1 episodes [pipeline.py: 233] +05/27 14:10:50 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 14:10:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 14:10:53 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7126 [save_utils.py: 703] +05/27 14:10:53 INFO: [Worker 0] Successfully saved trajectory data for house_7126 in 3.00s (batch: 2.90s, save: 0.09s) [pipeline.py: 280] +05/27 14:10:54 WARNING: [Worker 0] No trajectory data to save for house_7126 [pipeline.py: 229] +05/27 14:10:54 INFO: [Worker 0] Worker 0 completed house 7126: 0/1 successful episodes [pipeline.py: 1243] +05/27 14:10:54 INFO: [Worker 0] Worker 0 starting house 7192 (index 80/114) [pipeline.py: 473] +05/27 14:10:54 INFO: [Worker 0] Loaded 1 episodes for house 7192 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 14:10:54 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 14:10:55 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7192_ceiling.xml [task_sampler.py: 797] +05/27 14:10:55 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7192, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 14:10:55 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 14:10:55 INFO: [Worker 0] randomize_scene: Setting poses for 13 objects [json_eval_task_sampler.py: 686] +05/27 14:10:55 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 14:10:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 14:10:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 14:10:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 14:10:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 14:10:55 INFO: [Worker 0] Sampled task 'Pick up the blue birthday card with fox and rabbit and place it next to the furniture' [task_sampler.py: 1136] +05/27 14:10:55 INFO: [Worker 0] Worker 0 house 7192 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 14:10:55 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 14:12:38 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 14:17:26 INFO: [Worker 0] Worker 0 house 7192 episode 0 object objagreetingcard_5c7029b2edd248cdafcfd33c93ff1728_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 14:17:30 INFO: [Worker 0] Batching and saving trajectory data for house_7192: 1 episodes [pipeline.py: 233] +05/27 14:17:30 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 14:17:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 14:17:33 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7192 [save_utils.py: 703] +05/27 14:17:33 INFO: [Worker 0] Successfully saved trajectory data for house_7192 in 2.90s (batch: 2.81s, save: 0.09s) [pipeline.py: 280] +05/27 14:17:34 WARNING: [Worker 0] No trajectory data to save for house_7192 [pipeline.py: 229] +05/27 14:17:34 INFO: [Worker 0] Worker 0 completed house 7192: 0/1 successful episodes [pipeline.py: 1243] +05/27 14:17:34 INFO: [Worker 0] Worker 0 starting house 7319 (index 81/114) [pipeline.py: 473] +05/27 14:17:34 INFO: [Worker 0] Loaded 1 episodes for house 7319 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 14:17:34 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 14:17:48 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7319_ceiling.xml [task_sampler.py: 797] +05/27 14:17:48 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7319, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 14:17:48 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 14:17:48 INFO: [Worker 0] randomize_scene: Setting poses for 47 objects [json_eval_task_sampler.py: 686] +05/27 14:17:48 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 14:17:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 14:17:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 14:17:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 14:17:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 14:17:48 INFO: [Worker 0] Sampled task 'Pick up the yellow black wasp and place it next to the dark vintage folding camera' [task_sampler.py: 1136] +05/27 14:17:48 INFO: [Worker 0] Worker 0 house 7319 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 14:17:48 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 14:19:24 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 14:31:45 INFO: [Worker 0] Worker 0 house 7319 episode 0 object objainsect_4c74d77df5ee41948218f8a620ec1228_1_0_8 completed with success=False [pipeline.py: 1114] +05/27 14:31:49 INFO: [Worker 0] Batching and saving trajectory data for house_7319: 1 episodes [pipeline.py: 233] +05/27 14:31:49 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 14:31:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 14:31:52 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7319 [save_utils.py: 703] +05/27 14:31:52 INFO: [Worker 0] Successfully saved trajectory data for house_7319 in 2.90s (batch: 2.81s, save: 0.09s) [pipeline.py: 280] +05/27 14:31:53 WARNING: [Worker 0] No trajectory data to save for house_7319 [pipeline.py: 229] +05/27 14:31:53 INFO: [Worker 0] Worker 0 completed house 7319: 0/1 successful episodes [pipeline.py: 1243] +05/27 14:31:53 INFO: [Worker 0] Worker 0 starting house 7356 (index 82/114) [pipeline.py: 473] +05/27 14:31:53 INFO: [Worker 0] Loaded 1 episodes for house 7356 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 14:31:53 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 14:31:56 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7356_ceiling.xml [task_sampler.py: 797] +05/27 14:31:56 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7356, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 14:31:56 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 14:31:56 INFO: [Worker 0] randomize_scene: Setting poses for 43 objects [json_eval_task_sampler.py: 686] +05/27 14:31:56 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 14:31:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 14:31:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 14:31:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 14:31:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 14:31:56 INFO: [Worker 0] Sampled task 'Pick up the circular stone disc with hole and place it next to the irregular brown rock with colorful minerals' [task_sampler.py: 1136] +05/27 14:31:56 INFO: [Worker 0] Worker 0 house 7356 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 14:31:56 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 14:33:35 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 14:42:56 INFO: [Worker 0] Worker 0 house 7356 episode 0 object objastonedisc_bb31ba58de6e457aa1251a63ede16de2_2_0_7 completed with success=False [pipeline.py: 1114] +05/27 14:42:59 INFO: [Worker 0] Batching and saving trajectory data for house_7356: 1 episodes [pipeline.py: 233] +05/27 14:42:59 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 14:43:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 14:43:01 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7356 [save_utils.py: 703] +05/27 14:43:01 INFO: [Worker 0] Successfully saved trajectory data for house_7356 in 2.28s (batch: 2.19s, save: 0.09s) [pipeline.py: 280] +05/27 14:43:02 WARNING: [Worker 0] No trajectory data to save for house_7356 [pipeline.py: 229] +05/27 14:43:02 INFO: [Worker 0] Worker 0 completed house 7356: 0/1 successful episodes [pipeline.py: 1243] +05/27 14:43:02 INFO: [Worker 0] Worker 0 starting house 7434 (index 83/114) [pipeline.py: 473] +05/27 14:43:02 INFO: [Worker 0] Loaded 1 episodes for house 7434 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 14:43:02 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 14:43:06 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7434_ceiling.xml [task_sampler.py: 797] +05/27 14:43:06 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7434, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 14:43:06 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 14:43:06 INFO: [Worker 0] randomize_scene: Setting poses for 55 objects [json_eval_task_sampler.py: 686] +05/27 14:43:06 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 14:43:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 14:43:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 14:43:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 14:43:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 14:43:06 INFO: [Worker 0] Sampled task 'Pick up the red scissors with metallic blades and place it next to the light brown soil with skeleton exposed' [task_sampler.py: 1136] +05/27 14:43:06 INFO: [Worker 0] Worker 0 house 7434 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 14:43:06 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 14:56:57 INFO: [Worker 0] Worker 0 house 7434 episode 0 object objascissors_b0fdda96fcb94002b8be3077f5b95299_1_0_9 completed with success=False [pipeline.py: 1114] +05/27 14:57:00 INFO: [Worker 0] Batching and saving trajectory data for house_7434: 1 episodes [pipeline.py: 233] +05/27 14:57:00 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 14:57:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 14:57:02 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7434 [save_utils.py: 703] +05/27 14:57:02 INFO: [Worker 0] Successfully saved trajectory data for house_7434 in 2.25s (batch: 2.16s, save: 0.09s) [pipeline.py: 280] +05/27 14:57:02 WARNING: [Worker 0] No trajectory data to save for house_7434 [pipeline.py: 229] +05/27 14:57:02 INFO: [Worker 0] Worker 0 completed house 7434: 0/1 successful episodes [pipeline.py: 1243] +05/27 14:57:02 INFO: [Worker 0] Worker 0 starting house 7480 (index 84/114) [pipeline.py: 473] +05/27 14:57:02 INFO: [Worker 0] Loaded 1 episodes for house 7480 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 14:57:02 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 14:57:26 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7480_ceiling.xml [task_sampler.py: 797] +05/27 14:57:26 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7480, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 14:57:26 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 14:57:26 INFO: [Worker 0] randomize_scene: Setting poses for 42 objects [json_eval_task_sampler.py: 686] +05/27 14:57:26 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 14:57:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 14:57:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 14:57:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 14:57:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 14:57:26 INFO: [Worker 0] Sampled task 'Pick up the green manual can opener and place it next to the teal spiral wand' [task_sampler.py: 1136] +05/27 14:57:26 INFO: [Worker 0] Worker 0 house 7480 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 14:57:26 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 14:57:27 WARNING: [Worker 0] Could not find object objainstantnoodlecup_293aeb3e7ac04edfa702ee174181f678_2_0_6 in scene [object_manager.py: 1238] +05/27 14:57:27 WARNING: [Worker 0] Could not find object Irishpotato_223ec3bbee2c0187562d066582ec9143_1_0_6 in scene [object_manager.py: 1238] +05/27 14:59:05 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 15:00:21 INFO: [Worker 0] Worker 0 house 7480 episode 0 object objacanopener_8237129bfae244d7a62d706937f9f106_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 15:00:24 INFO: [Worker 0] Batching and saving trajectory data for house_7480: 1 episodes [pipeline.py: 233] +05/27 15:00:24 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 15:00:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 15:00:27 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7480 [save_utils.py: 703] +05/27 15:00:27 INFO: [Worker 0] Successfully saved trajectory data for house_7480 in 2.22s (batch: 2.13s, save: 0.09s) [pipeline.py: 280] +05/27 15:00:27 WARNING: [Worker 0] No trajectory data to save for house_7480 [pipeline.py: 229] +05/27 15:00:27 INFO: [Worker 0] Worker 0 completed house 7480: 0/1 successful episodes [pipeline.py: 1243] +05/27 15:00:27 INFO: [Worker 0] Worker 0 starting house 7613 (index 85/114) [pipeline.py: 473] +05/27 15:00:27 INFO: [Worker 0] Loaded 1 episodes for house 7613 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 15:00:27 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 15:00:50 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7613_ceiling.xml [task_sampler.py: 797] +05/27 15:00:50 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7613, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 15:00:50 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 15:00:50 INFO: [Worker 0] randomize_scene: Setting poses for 48 objects [json_eval_task_sampler.py: 686] +05/27 15:00:50 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 15:00:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 15:00:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 15:00:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 15:00:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 15:00:50 INFO: [Worker 0] Sampled task 'Pick up the multicolored thick glasses and place it next to the glossy wooden tapered cup' [task_sampler.py: 1136] +05/27 15:00:50 INFO: [Worker 0] Worker 0 house 7613 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 15:00:50 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 15:02:27 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 15:11:28 INFO: [Worker 0] Worker 0 house 7613 episode 0 object objaeyeglasses_64eab051bace4d45a878fdf664f8baac_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 15:11:32 INFO: [Worker 0] Batching and saving trajectory data for house_7613: 1 episodes [pipeline.py: 233] +05/27 15:11:32 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 15:11:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 15:11:35 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7613 [save_utils.py: 703] +05/27 15:11:35 INFO: [Worker 0] Successfully saved trajectory data for house_7613 in 2.82s (batch: 2.73s, save: 0.09s) [pipeline.py: 280] +05/27 15:11:35 WARNING: [Worker 0] No trajectory data to save for house_7613 [pipeline.py: 229] +05/27 15:11:35 INFO: [Worker 0] Worker 0 completed house 7613: 0/1 successful episodes [pipeline.py: 1243] +05/27 15:11:35 INFO: [Worker 0] Worker 0 starting house 7705 (index 86/114) [pipeline.py: 473] +05/27 15:11:35 INFO: [Worker 0] Loaded 1 episodes for house 7705 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 15:11:35 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 15:12:06 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7705_ceiling.xml [task_sampler.py: 797] +05/27 15:12:06 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7705, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 15:12:06 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 15:12:06 INFO: [Worker 0] randomize_scene: Setting poses for 59 objects [json_eval_task_sampler.py: 686] +05/27 15:12:06 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 15:12:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 15:12:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 15:12:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 15:12:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 15:12:06 INFO: [Worker 0] Sampled task 'Pick up the orange delivery van with windows and place it next to the slim blue phone device' [task_sampler.py: 1136] +05/27 15:12:06 INFO: [Worker 0] Worker 0 house 7705 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 15:12:06 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 15:13:45 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 15:25:04 INFO: [Worker 0] Worker 0 house 7705 episode 0 object objatoyvehicle_8132c0db249843ba932920251b0e3770_1_0_9 completed with success=False [pipeline.py: 1114] +05/27 15:25:07 INFO: [Worker 0] Batching and saving trajectory data for house_7705: 1 episodes [pipeline.py: 233] +05/27 15:25:07 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 15:25:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 15:25:10 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7705 [save_utils.py: 703] +05/27 15:25:10 INFO: [Worker 0] Successfully saved trajectory data for house_7705 in 2.23s (batch: 2.14s, save: 0.09s) [pipeline.py: 280] +05/27 15:25:10 WARNING: [Worker 0] No trajectory data to save for house_7705 [pipeline.py: 229] +05/27 15:25:10 INFO: [Worker 0] Worker 0 completed house 7705: 0/1 successful episodes [pipeline.py: 1243] +05/27 15:25:10 INFO: [Worker 0] Worker 0 starting house 7790 (index 87/114) [pipeline.py: 473] +05/27 15:25:10 INFO: [Worker 0] Loaded 1 episodes for house 7790 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 15:25:10 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 15:25:26 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7790_ceiling.xml [task_sampler.py: 797] +05/27 15:25:26 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7790, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 15:25:26 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 15:25:26 INFO: [Worker 0] randomize_scene: Setting poses for 43 objects [json_eval_task_sampler.py: 686] +05/27 15:25:26 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 15:25:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 15:25:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 15:25:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 15:25:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 15:25:26 INFO: [Worker 0] Sampled task 'Pick up the eggs and place it next to the tall copper cup with ridges' [task_sampler.py: 1136] +05/27 15:25:26 INFO: [Worker 0] Worker 0 house 7790 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 15:25:26 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 15:36:28 INFO: [Worker 0] Worker 0 house 7790 episode 0 object egg_42ba097bdb4a3b55fe0b3765a6f91265_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 15:36:32 INFO: [Worker 0] Batching and saving trajectory data for house_7790: 1 episodes [pipeline.py: 233] +05/27 15:36:32 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 15:36:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 15:36:35 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7790 [save_utils.py: 703] +05/27 15:36:35 INFO: [Worker 0] Successfully saved trajectory data for house_7790 in 2.88s (batch: 2.73s, save: 0.15s) [pipeline.py: 280] +05/27 15:36:36 WARNING: [Worker 0] No trajectory data to save for house_7790 [pipeline.py: 229] +05/27 15:36:36 INFO: [Worker 0] Worker 0 completed house 7790: 0/1 successful episodes [pipeline.py: 1243] +05/27 15:36:36 INFO: [Worker 0] Worker 0 starting house 7871 (index 88/114) [pipeline.py: 473] +05/27 15:36:36 INFO: [Worker 0] Loaded 1 episodes for house 7871 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 15:36:36 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 15:36:54 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7871_ceiling.xml [task_sampler.py: 797] +05/27 15:36:54 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7871, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 15:36:54 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 15:36:54 INFO: [Worker 0] randomize_scene: Setting poses for 48 objects [json_eval_task_sampler.py: 686] +05/27 15:36:54 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 15:36:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 15:36:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 15:36:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 15:36:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 15:36:54 INFO: [Worker 0] Sampled task 'Pick up the round brown ceramic dish with fish and place it next to the tall clear cup' [task_sampler.py: 1136] +05/27 15:36:54 INFO: [Worker 0] Worker 0 house 7871 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 15:36:54 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 15:38:30 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 15:47:57 INFO: [Worker 0] Worker 0 house 7871 episode 0 object objaceramicdish_188a46ce27e04b76abc01ba942ccb69d_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 15:48:02 INFO: [Worker 0] Batching and saving trajectory data for house_7871: 1 episodes [pipeline.py: 233] +05/27 15:48:02 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 15:48:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 15:48:04 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7871 [save_utils.py: 703] +05/27 15:48:04 INFO: [Worker 0] Successfully saved trajectory data for house_7871 in 2.93s (batch: 2.84s, save: 0.09s) [pipeline.py: 280] +05/27 15:48:05 WARNING: [Worker 0] No trajectory data to save for house_7871 [pipeline.py: 229] +05/27 15:48:05 INFO: [Worker 0] Worker 0 completed house 7871: 0/1 successful episodes [pipeline.py: 1243] +05/27 15:48:05 INFO: [Worker 0] Worker 0 starting house 7985 (index 89/114) [pipeline.py: 473] +05/27 15:48:05 INFO: [Worker 0] Loaded 1 episodes for house 7985 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 15:48:05 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 15:48:12 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7985_ceiling.xml [task_sampler.py: 797] +05/27 15:48:12 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7985, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 15:48:12 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 15:48:12 INFO: [Worker 0] randomize_scene: Setting poses for 43 objects [json_eval_task_sampler.py: 686] +05/27 15:48:12 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 15:48:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 15:48:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 15:48:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 15:48:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 15:48:12 INFO: [Worker 0] Sampled task 'Pick up the silver sword with yellow hilt and gem and place it next to the cutlery' [task_sampler.py: 1136] +05/27 15:48:12 INFO: [Worker 0] Worker 0 house 7985 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 15:48:12 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 15:48:12 WARNING: [Worker 0] Could not find object objanoveltycard_8e6f2b6b96e24c6096116eb97376abff_1_0_4 in scene [object_manager.py: 1238] +05/27 15:49:49 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 15:58:47 INFO: [Worker 0] Worker 0 house 7985 episode 0 object objatoysword_a9890b83a9dc4b9799ab8799f00325cc_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 15:58:51 INFO: [Worker 0] Batching and saving trajectory data for house_7985: 1 episodes [pipeline.py: 233] +05/27 15:58:51 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 15:58:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 15:58:54 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7985 [save_utils.py: 703] +05/27 15:58:54 INFO: [Worker 0] Successfully saved trajectory data for house_7985 in 2.89s (batch: 2.80s, save: 0.09s) [pipeline.py: 280] +05/27 15:58:55 WARNING: [Worker 0] No trajectory data to save for house_7985 [pipeline.py: 229] +05/27 15:58:55 INFO: [Worker 0] Worker 0 completed house 7985: 0/1 successful episodes [pipeline.py: 1243] +05/27 15:58:55 INFO: [Worker 0] Worker 0 starting house 8087 (index 90/114) [pipeline.py: 473] +05/27 15:58:55 INFO: [Worker 0] Loaded 1 episodes for house 8087 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 15:58:55 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 15:59:06 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8087_ceiling.xml [task_sampler.py: 797] +05/27 15:59:06 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8087, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 15:59:06 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 15:59:06 INFO: [Worker 0] randomize_scene: Setting poses for 54 objects [json_eval_task_sampler.py: 686] +05/27 15:59:06 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 15:59:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 15:59:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 15:59:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 15:59:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 15:59:06 INFO: [Worker 0] Sampled task 'Pick up the iced snowman gingerbread cookie and place it next to the small shiny gold dog statue' [task_sampler.py: 1136] +05/27 15:59:06 INFO: [Worker 0] Worker 0 house 8087 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 15:59:06 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 16:10:21 INFO: [Worker 0] Worker 0 house 8087 episode 0 object objacookie_1929e4a4db3d4a619b7aec1bc1268c83_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 16:10:24 INFO: [Worker 0] Batching and saving trajectory data for house_8087: 1 episodes [pipeline.py: 233] +05/27 16:10:24 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 16:10:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 16:10:26 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8087 [save_utils.py: 703] +05/27 16:10:26 INFO: [Worker 0] Successfully saved trajectory data for house_8087 in 2.27s (batch: 2.18s, save: 0.09s) [pipeline.py: 280] +05/27 16:10:27 WARNING: [Worker 0] No trajectory data to save for house_8087 [pipeline.py: 229] +05/27 16:10:27 INFO: [Worker 0] Worker 0 completed house 8087: 0/1 successful episodes [pipeline.py: 1243] +05/27 16:10:27 INFO: [Worker 0] Worker 0 starting house 8177 (index 91/114) [pipeline.py: 473] +05/27 16:10:27 INFO: [Worker 0] Loaded 1 episodes for house 8177 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 16:10:27 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 16:10:46 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8177_ceiling.xml [task_sampler.py: 797] +05/27 16:10:46 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8177, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 16:10:46 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 16:10:46 INFO: [Worker 0] randomize_scene: Setting poses for 99 objects [json_eval_task_sampler.py: 686] +05/27 16:10:46 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 16:10:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 16:10:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 16:10:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 16:10:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 16:10:46 INFO: [Worker 0] Sampled task 'Pick up the polished smooth golden circular ring and place it next to the brown wooden gavel' [task_sampler.py: 1136] +05/27 16:10:46 INFO: [Worker 0] Worker 0 house 8177 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 16:10:46 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 16:12:23 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 16:28:47 INFO: [Worker 0] Worker 0 house 8177 episode 0 object objaring_c20681970f3f4e449aeec50291be17b1_1_0_3 completed with success=False [pipeline.py: 1114] +05/27 16:28:51 INFO: [Worker 0] Batching and saving trajectory data for house_8177: 1 episodes [pipeline.py: 233] +05/27 16:28:51 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 16:28:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 16:28:54 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8177 [save_utils.py: 703] +05/27 16:28:54 INFO: [Worker 0] Successfully saved trajectory data for house_8177 in 2.84s (batch: 2.75s, save: 0.09s) [pipeline.py: 280] +05/27 16:28:55 WARNING: [Worker 0] No trajectory data to save for house_8177 [pipeline.py: 229] +05/27 16:28:55 INFO: [Worker 0] Worker 0 completed house 8177: 0/1 successful episodes [pipeline.py: 1243] +05/27 16:28:55 INFO: [Worker 0] Worker 0 starting house 8235 (index 92/114) [pipeline.py: 473] +05/27 16:28:55 INFO: [Worker 0] Loaded 1 episodes for house 8235 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 16:28:55 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 16:29:20 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8235_ceiling.xml [task_sampler.py: 797] +05/27 16:29:20 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8235, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 16:29:20 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 16:29:20 INFO: [Worker 0] randomize_scene: Setting poses for 70 objects [json_eval_task_sampler.py: 686] +05/27 16:29:20 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 16:29:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 16:29:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 16:29:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 16:29:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 16:29:21 INFO: [Worker 0] Sampled task 'Pick up the gold opera glasses and place it next to the brown fedora hat with blue band' [task_sampler.py: 1136] +05/27 16:29:21 INFO: [Worker 0] Worker 0 house 8235 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 16:29:21 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 16:29:21 WARNING: [Worker 0] Could not find object objaspraycan_e3227ecd37d44cd6be1331941d9cfa2f_1_0_5 in scene [object_manager.py: 1238] +05/27 16:29:21 WARNING: [Worker 0] Could not find object objadecorativepetal_3609a49ccf984828a25d8b73c0ea672b_1_0_7 in scene [object_manager.py: 1238] +05/27 16:29:21 WARNING: [Worker 0] Could not find object cellulartelephone_f65c71e22b7e94dd68f01167ec92b467_1_0_7 in scene [object_manager.py: 1238] +05/27 16:30:55 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 16:45:29 INFO: [Worker 0] Worker 0 house 8235 episode 0 object objaoperaglasses_a6bf64a282b247cb9784f862e5da27e1_1_0_8 completed with success=False [pipeline.py: 1114] +05/27 16:45:33 INFO: [Worker 0] Batching and saving trajectory data for house_8235: 1 episodes [pipeline.py: 233] +05/27 16:45:33 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 16:45:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 16:45:36 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8235 [save_utils.py: 703] +05/27 16:45:36 INFO: [Worker 0] Successfully saved trajectory data for house_8235 in 2.86s (batch: 2.77s, save: 0.09s) [pipeline.py: 280] +05/27 16:45:36 WARNING: [Worker 0] No trajectory data to save for house_8235 [pipeline.py: 229] +05/27 16:45:36 INFO: [Worker 0] Worker 0 completed house 8235: 0/1 successful episodes [pipeline.py: 1243] +05/27 16:45:36 INFO: [Worker 0] Worker 0 starting house 8314 (index 93/114) [pipeline.py: 473] +05/27 16:45:37 INFO: [Worker 0] Loaded 1 episodes for house 8314 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 16:45:37 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 16:45:48 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8314_ceiling.xml [task_sampler.py: 797] +05/27 16:45:48 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8314, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 16:45:48 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 16:45:48 INFO: [Worker 0] randomize_scene: Setting poses for 65 objects [json_eval_task_sampler.py: 686] +05/27 16:45:48 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 16:45:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 16:45:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 16:45:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 16:45:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 16:45:48 INFO: [Worker 0] Sampled task 'Pick up the white connector with multiple yellow wires and place it next to the smooth translucent white bowl' [task_sampler.py: 1136] +05/27 16:45:48 INFO: [Worker 0] Worker 0 house 8314 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 16:45:48 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 16:47:28 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 16:59:57 INFO: [Worker 0] Worker 0 house 8314 episode 0 object objaelectricalconnector_e55fbf1db52c4c99b680d800424b851b_1_0_4 completed with success=False [pipeline.py: 1114] +05/27 17:00:00 INFO: [Worker 0] Batching and saving trajectory data for house_8314: 1 episodes [pipeline.py: 233] +05/27 17:00:00 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 17:00:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 17:00:03 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8314 [save_utils.py: 703] +05/27 17:00:03 INFO: [Worker 0] Successfully saved trajectory data for house_8314 in 3.00s (batch: 2.92s, save: 0.09s) [pipeline.py: 280] +05/27 17:00:04 WARNING: [Worker 0] No trajectory data to save for house_8314 [pipeline.py: 229] +05/27 17:00:04 INFO: [Worker 0] Worker 0 completed house 8314: 0/1 successful episodes [pipeline.py: 1243] +05/27 17:00:04 INFO: [Worker 0] Worker 0 starting house 8392 (index 94/114) [pipeline.py: 473] +05/27 17:00:04 INFO: [Worker 0] Loaded 1 episodes for house 8392 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 17:00:04 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 17:00:12 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8392_ceiling.xml [task_sampler.py: 797] +05/27 17:00:12 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8392, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 17:00:12 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 17:00:12 INFO: [Worker 0] randomize_scene: Setting poses for 8 objects [json_eval_task_sampler.py: 686] +05/27 17:00:12 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 17:00:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 17:00:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 17:00:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 17:00:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 17:00:12 INFO: [Worker 0] Sampled task 'Pick up the cleaning sponge and place it next to the white tape dispenser' [task_sampler.py: 1136] +05/27 17:00:12 INFO: [Worker 0] Worker 0 house 8392 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 17:00:12 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 17:01:48 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 17:06:49 INFO: [Worker 0] Worker 0 house 8392 episode 0 object objacleaningsponge_afd092fac12f4ef8984b80d3d15de232_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 17:06:53 INFO: [Worker 0] Batching and saving trajectory data for house_8392: 1 episodes [pipeline.py: 233] +05/27 17:06:53 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 17:06:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 17:06:56 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8392 [save_utils.py: 703] +05/27 17:06:56 INFO: [Worker 0] Successfully saved trajectory data for house_8392 in 2.86s (batch: 2.77s, save: 0.09s) [pipeline.py: 280] +05/27 17:06:56 WARNING: [Worker 0] No trajectory data to save for house_8392 [pipeline.py: 229] +05/27 17:06:56 INFO: [Worker 0] Worker 0 completed house 8392: 0/1 successful episodes [pipeline.py: 1243] +05/27 17:06:56 INFO: [Worker 0] Worker 0 starting house 8478 (index 95/114) [pipeline.py: 473] +05/27 17:06:56 INFO: [Worker 0] Loaded 1 episodes for house 8478 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 17:06:56 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 17:07:17 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8478_ceiling.xml [task_sampler.py: 797] +05/27 17:07:17 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8478, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 17:07:17 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 17:07:17 INFO: [Worker 0] randomize_scene: Setting poses for 65 objects [json_eval_task_sampler.py: 686] +05/27 17:07:17 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 17:07:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 17:07:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 17:07:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 17:07:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 17:07:17 INFO: [Worker 0] Sampled task 'Pick up the toy sword and place it next to the book' [task_sampler.py: 1136] +05/27 17:07:17 INFO: [Worker 0] Worker 0 house 8478 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 17:07:18 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 17:07:18 WARNING: [Worker 0] Could not find object atomizer_6f646752c976a94a62a6979581d2556d_1_0_3 in scene [object_manager.py: 1238] +05/27 17:08:53 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 17:21:39 INFO: [Worker 0] Worker 0 house 8478 episode 0 object objatoysword_3cab1a6d7fd045c6983b41b821b6cc26_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 17:21:43 INFO: [Worker 0] Batching and saving trajectory data for house_8478: 1 episodes [pipeline.py: 233] +05/27 17:21:43 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 17:21:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 17:21:46 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8478 [save_utils.py: 703] +05/27 17:21:46 INFO: [Worker 0] Successfully saved trajectory data for house_8478 in 2.87s (batch: 2.77s, save: 0.09s) [pipeline.py: 280] +05/27 17:21:47 WARNING: [Worker 0] No trajectory data to save for house_8478 [pipeline.py: 229] +05/27 17:21:47 INFO: [Worker 0] Worker 0 completed house 8478: 0/1 successful episodes [pipeline.py: 1243] +05/27 17:21:47 INFO: [Worker 0] Worker 0 starting house 8546 (index 96/114) [pipeline.py: 473] +05/27 17:21:47 INFO: [Worker 0] Loaded 1 episodes for house 8546 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 17:21:47 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 17:21:50 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8546_ceiling.xml [task_sampler.py: 797] +05/27 17:21:50 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8546, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 17:21:50 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 17:21:50 INFO: [Worker 0] randomize_scene: Setting poses for 15 objects [json_eval_task_sampler.py: 686] +05/27 17:21:50 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 17:21:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 17:21:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 17:21:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 17:21:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 17:21:50 INFO: [Worker 0] Sampled task 'Pick up the soft flat round bread with spots and place it next to the blue rectangular frying pan' [task_sampler.py: 1136] +05/27 17:21:50 INFO: [Worker 0] Worker 0 house 8546 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 17:21:50 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 17:23:28 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 17:28:19 INFO: [Worker 0] Worker 0 house 8546 episode 0 object objaflatbread_7aecee021b9f464bbc5ac80d7d8308a4_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 17:28:22 INFO: [Worker 0] Batching and saving trajectory data for house_8546: 1 episodes [pipeline.py: 233] +05/27 17:28:22 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 17:28:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 17:28:25 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8546 [save_utils.py: 703] +05/27 17:28:25 INFO: [Worker 0] Successfully saved trajectory data for house_8546 in 2.23s (batch: 2.14s, save: 0.09s) [pipeline.py: 280] +05/27 17:28:25 WARNING: [Worker 0] No trajectory data to save for house_8546 [pipeline.py: 229] +05/27 17:28:25 INFO: [Worker 0] Worker 0 completed house 8546: 0/1 successful episodes [pipeline.py: 1243] +05/27 17:28:25 INFO: [Worker 0] Worker 0 starting house 8662 (index 97/114) [pipeline.py: 473] +05/27 17:28:25 INFO: [Worker 0] Loaded 1 episodes for house 8662 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 17:28:25 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 17:28:40 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8662_ceiling.xml [task_sampler.py: 797] +05/27 17:28:40 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8662, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 17:28:40 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 17:28:40 INFO: [Worker 0] randomize_scene: Setting poses for 53 objects [json_eval_task_sampler.py: 686] +05/27 17:28:40 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 17:28:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 17:28:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 17:28:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 17:28:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 17:28:40 INFO: [Worker 0] Sampled task 'Pick up the lightweight camouflage glider and place it next to the dark plaque' [task_sampler.py: 1136] +05/27 17:28:40 INFO: [Worker 0] Worker 0 house 8662 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 17:28:40 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 17:28:40 WARNING: [Worker 0] Could not find object objamolecularmodel_270f91fbee564b88acb06a3558fd6958_1_0_2 in scene [object_manager.py: 1238] +05/27 17:42:39 INFO: [Worker 0] Worker 0 house 8662 episode 0 object objatoyplane_c210b610454f48488605759aa419c7af_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 17:42:43 INFO: [Worker 0] Batching and saving trajectory data for house_8662: 1 episodes [pipeline.py: 233] +05/27 17:42:43 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 17:42:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 17:42:45 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8662 [save_utils.py: 703] +05/27 17:42:45 INFO: [Worker 0] Successfully saved trajectory data for house_8662 in 2.24s (batch: 2.15s, save: 0.09s) [pipeline.py: 280] +05/27 17:42:45 WARNING: [Worker 0] No trajectory data to save for house_8662 [pipeline.py: 229] +05/27 17:42:45 INFO: [Worker 0] Worker 0 completed house 8662: 0/1 successful episodes [pipeline.py: 1243] +05/27 17:42:45 INFO: [Worker 0] Worker 0 starting house 8727 (index 98/114) [pipeline.py: 473] +05/27 17:42:45 INFO: [Worker 0] Loaded 1 episodes for house 8727 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 17:42:45 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 17:42:48 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8727_ceiling.xml [task_sampler.py: 797] +05/27 17:42:48 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8727, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 17:42:48 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 17:42:48 INFO: [Worker 0] randomize_scene: Setting poses for 19 objects [json_eval_task_sampler.py: 686] +05/27 17:42:48 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 17:42:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 17:42:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 17:42:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 17:42:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 17:42:48 INFO: [Worker 0] Sampled task 'Pick up the gray video camera with handle and place it next to the stylized gray bird with orange beak' [task_sampler.py: 1136] +05/27 17:42:48 INFO: [Worker 0] Worker 0 house 8727 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 17:42:48 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 17:51:32 INFO: [Worker 0] Worker 0 house 8727 episode 0 object objavideocamera_55426eda2ba244a4b177e4b85400937c_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 17:51:36 INFO: [Worker 0] Batching and saving trajectory data for house_8727: 1 episodes [pipeline.py: 233] +05/27 17:51:36 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 17:51:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 17:51:38 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8727 [save_utils.py: 703] +05/27 17:51:38 INFO: [Worker 0] Successfully saved trajectory data for house_8727 in 2.86s (batch: 2.77s, save: 0.09s) [pipeline.py: 280] +05/27 17:51:39 WARNING: [Worker 0] No trajectory data to save for house_8727 [pipeline.py: 229] +05/27 17:51:39 INFO: [Worker 0] Worker 0 completed house 8727: 0/1 successful episodes [pipeline.py: 1243] +05/27 17:51:39 INFO: [Worker 0] Worker 0 starting house 8848 (index 99/114) [pipeline.py: 473] +05/27 17:51:39 INFO: [Worker 0] Loaded 1 episodes for house 8848 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 17:51:39 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 17:51:50 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8848_ceiling.xml [task_sampler.py: 797] +05/27 17:51:50 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8848, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 17:51:50 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 17:51:50 INFO: [Worker 0] randomize_scene: Setting poses for 82 objects [json_eval_task_sampler.py: 686] +05/27 17:51:50 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 17:51:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 17:51:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 17:51:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 17:51:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 17:51:50 INFO: [Worker 0] Sampled task 'Pick up the white porcelain candlestick with cherubs and place it next to the light brown rectangular cardboard box' [task_sampler.py: 1136] +05/27 17:51:50 INFO: [Worker 0] Worker 0 house 8848 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 17:51:50 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 17:53:37 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 18:11:14 INFO: [Worker 0] Worker 0 house 8848 episode 0 object objacandlestick_576b8819466a4775815379687602a788_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 18:11:17 INFO: [Worker 0] Batching and saving trajectory data for house_8848: 1 episodes [pipeline.py: 233] +05/27 18:11:17 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 18:11:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 18:11:20 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8848 [save_utils.py: 703] +05/27 18:11:20 INFO: [Worker 0] Successfully saved trajectory data for house_8848 in 2.36s (batch: 2.27s, save: 0.09s) [pipeline.py: 280] +05/27 18:11:20 WARNING: [Worker 0] No trajectory data to save for house_8848 [pipeline.py: 229] +05/27 18:11:20 INFO: [Worker 0] Worker 0 completed house 8848: 0/1 successful episodes [pipeline.py: 1243] +05/27 18:11:20 INFO: [Worker 0] Worker 0 starting house 8896 (index 100/114) [pipeline.py: 473] +05/27 18:11:20 INFO: [Worker 0] Loaded 1 episodes for house 8896 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 18:11:20 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 18:11:27 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8896_ceiling.xml [task_sampler.py: 797] +05/27 18:11:27 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8896, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 18:11:27 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 18:11:27 INFO: [Worker 0] randomize_scene: Setting poses for 40 objects [json_eval_task_sampler.py: 686] +05/27 18:11:27 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 18:11:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 18:11:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 18:11:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 18:11:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 18:11:27 INFO: [Worker 0] Sampled task 'Pick up the vintage mobile phone and place it next to the smooth yellow apple with stem' [task_sampler.py: 1136] +05/27 18:11:27 INFO: [Worker 0] Worker 0 house 8896 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 18:11:27 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 18:11:27 WARNING: [Worker 0] Could not find object objafantasystaff_c2afbeb459e34f818f962e16914f116b_1_0_7 in scene [object_manager.py: 1238] +05/27 18:11:27 WARNING: [Worker 0] Could not find object plate_3a462adb63be096cddd3c836fdb52686_1_0_7 in scene [object_manager.py: 1238] +05/27 18:13:09 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 18:23:08 INFO: [Worker 0] Worker 0 house 8896 episode 0 object objavintagemobilephone_e1a072af323f4d358bad054195353b96_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 18:23:11 INFO: [Worker 0] Batching and saving trajectory data for house_8896: 1 episodes [pipeline.py: 233] +05/27 18:23:11 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 18:23:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 18:23:14 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8896 [save_utils.py: 703] +05/27 18:23:14 INFO: [Worker 0] Successfully saved trajectory data for house_8896 in 2.27s (batch: 2.18s, save: 0.09s) [pipeline.py: 280] +05/27 18:23:14 WARNING: [Worker 0] No trajectory data to save for house_8896 [pipeline.py: 229] +05/27 18:23:14 INFO: [Worker 0] Worker 0 completed house 8896: 0/1 successful episodes [pipeline.py: 1243] +05/27 18:23:14 INFO: [Worker 0] Worker 0 starting house 8981 (index 101/114) [pipeline.py: 473] +05/27 18:23:14 INFO: [Worker 0] Loaded 1 episodes for house 8981 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 18:23:14 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 18:23:26 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8981_ceiling.xml [task_sampler.py: 797] +05/27 18:23:26 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8981, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 18:23:26 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 18:23:26 INFO: [Worker 0] randomize_scene: Setting poses for 77 objects [json_eval_task_sampler.py: 686] +05/27 18:23:26 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 18:23:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 18:23:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 18:23:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 18:23:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 18:23:26 INFO: [Worker 0] Sampled task 'Pick up the black curved remote control with buttons and place it next to the orange plaid pillow' [task_sampler.py: 1136] +05/27 18:23:26 INFO: [Worker 0] Worker 0 house 8981 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 18:23:26 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 18:25:00 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 18:41:59 INFO: [Worker 0] Worker 0 house 8981 episode 0 object objaremotecontrol_cf2b3e74a7b547e2a75dba0187584190_1_0_3 completed with success=False [pipeline.py: 1114] +05/27 18:42:02 INFO: [Worker 0] Batching and saving trajectory data for house_8981: 1 episodes [pipeline.py: 233] +05/27 18:42:02 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 18:42:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 18:42:04 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8981 [save_utils.py: 703] +05/27 18:42:04 INFO: [Worker 0] Successfully saved trajectory data for house_8981 in 2.28s (batch: 2.19s, save: 0.09s) [pipeline.py: 280] +05/27 18:42:05 WARNING: [Worker 0] No trajectory data to save for house_8981 [pipeline.py: 229] +05/27 18:42:05 INFO: [Worker 0] Worker 0 completed house 8981: 0/1 successful episodes [pipeline.py: 1243] +05/27 18:42:05 INFO: [Worker 0] Worker 0 starting house 9033 (index 102/114) [pipeline.py: 473] +05/27 18:42:05 INFO: [Worker 0] Loaded 1 episodes for house 9033 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 18:42:05 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 18:42:14 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9033_ceiling.xml [task_sampler.py: 797] +05/27 18:42:14 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9033, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 18:42:14 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 18:42:14 INFO: [Worker 0] randomize_scene: Setting poses for 30 objects [json_eval_task_sampler.py: 686] +05/27 18:42:14 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 18:42:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 18:42:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 18:42:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 18:42:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 18:42:14 INFO: [Worker 0] Sampled task 'Pick up the sharpener and place it next to the veg' [task_sampler.py: 1136] +05/27 18:42:14 INFO: [Worker 0] Worker 0 house 9033 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 18:42:14 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 18:43:51 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 18:51:49 INFO: [Worker 0] Worker 0 house 9033 episode 0 object objapencilsharpener_9906a13b5a5647dbad3c67a9150721cd_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 18:51:53 INFO: [Worker 0] Batching and saving trajectory data for house_9033: 1 episodes [pipeline.py: 233] +05/27 18:51:53 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 18:51:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 18:51:56 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9033 [save_utils.py: 703] +05/27 18:51:56 INFO: [Worker 0] Successfully saved trajectory data for house_9033 in 2.82s (batch: 2.73s, save: 0.09s) [pipeline.py: 280] +05/27 18:51:56 WARNING: [Worker 0] No trajectory data to save for house_9033 [pipeline.py: 229] +05/27 18:51:56 INFO: [Worker 0] Worker 0 completed house 9033: 0/1 successful episodes [pipeline.py: 1243] +05/27 18:51:56 INFO: [Worker 0] Worker 0 starting house 9094 (index 103/114) [pipeline.py: 473] +05/27 18:51:56 INFO: [Worker 0] Loaded 1 episodes for house 9094 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 18:51:56 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 18:52:08 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9094_ceiling.xml [task_sampler.py: 797] +05/27 18:52:08 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9094, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 18:52:08 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 18:52:08 INFO: [Worker 0] randomize_scene: Setting poses for 63 objects [json_eval_task_sampler.py: 686] +05/27 18:52:08 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 18:52:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 18:52:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 18:52:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 18:52:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 18:52:08 INFO: [Worker 0] Sampled task 'Pick up the paintbrush with wooden handle and place it next to the blue hardcover book' [task_sampler.py: 1136] +05/27 18:52:08 INFO: [Worker 0] Worker 0 house 9094 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 18:52:08 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 18:52:08 WARNING: [Worker 0] Could not find object objaclaytablet_6f3cd26177eb4f679f06286bb6a2f304_1_0_7 in scene [object_manager.py: 1238] +05/27 18:52:08 WARNING: [Worker 0] Could not find object objatoiletpaperroll_d72efd4c78e146d88aeff93a721c5330_1_0_7 in scene [object_manager.py: 1238] +05/27 18:53:52 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 19:07:39 INFO: [Worker 0] Worker 0 house 9094 episode 0 object objapaintbrush_be6bd6967866421ea9dff02b84062bdf_1_0_4 completed with success=False [pipeline.py: 1114] +05/27 19:07:42 INFO: [Worker 0] Batching and saving trajectory data for house_9094: 1 episodes [pipeline.py: 233] +05/27 19:07:42 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 19:07:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 19:07:44 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9094 [save_utils.py: 703] +05/27 19:07:44 INFO: [Worker 0] Successfully saved trajectory data for house_9094 in 2.27s (batch: 2.18s, save: 0.09s) [pipeline.py: 280] +05/27 19:07:45 WARNING: [Worker 0] No trajectory data to save for house_9094 [pipeline.py: 229] +05/27 19:07:45 INFO: [Worker 0] Worker 0 completed house 9094: 0/1 successful episodes [pipeline.py: 1243] +05/27 19:07:45 INFO: [Worker 0] Worker 0 starting house 9169 (index 104/114) [pipeline.py: 473] +05/27 19:07:45 INFO: [Worker 0] Loaded 1 episodes for house 9169 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 19:07:45 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 19:08:07 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9169_ceiling.xml [task_sampler.py: 797] +05/27 19:08:07 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9169, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 19:08:07 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 19:08:07 INFO: [Worker 0] randomize_scene: Setting poses for 60 objects [json_eval_task_sampler.py: 686] +05/27 19:08:07 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 19:08:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 19:08:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 19:08:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 19:08:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 19:08:07 INFO: [Worker 0] Sampled task 'Pick up the red pagoda pop-up card and place it next to the brown cardboard box' [task_sampler.py: 1136] +05/27 19:08:07 INFO: [Worker 0] Worker 0 house 9169 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 19:08:07 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 19:08:07 WARNING: [Worker 0] Could not find object objaheadpiece_59e157a7e97c4be8889f7af0ce06eed2_1_0_4 in scene [object_manager.py: 1238] +05/27 19:08:07 WARNING: [Worker 0] Could not find object bowl_c594624adbb2b4b72f24e12b1047e7af_1_0_4 in scene [object_manager.py: 1238] +05/27 19:09:44 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 19:20:25 INFO: [Worker 0] Worker 0 house 9169 episode 0 object objapopupcard_c384a40a36554ddeb1a0a08f8ec266d3_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 19:20:30 INFO: [Worker 0] Batching and saving trajectory data for house_9169: 1 episodes [pipeline.py: 233] +05/27 19:20:30 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 19:20:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 19:20:32 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9169 [save_utils.py: 703] +05/27 19:20:32 INFO: [Worker 0] Successfully saved trajectory data for house_9169 in 2.90s (batch: 2.81s, save: 0.09s) [pipeline.py: 280] +05/27 19:20:33 WARNING: [Worker 0] No trajectory data to save for house_9169 [pipeline.py: 229] +05/27 19:20:33 INFO: [Worker 0] Worker 0 completed house 9169: 0/1 successful episodes [pipeline.py: 1243] +05/27 19:20:33 INFO: [Worker 0] Worker 0 starting house 9259 (index 105/114) [pipeline.py: 473] +05/27 19:20:33 INFO: [Worker 0] Loaded 1 episodes for house 9259 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 19:20:33 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 19:20:41 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9259_ceiling.xml [task_sampler.py: 797] +05/27 19:20:41 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9259, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 19:20:41 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 19:20:41 INFO: [Worker 0] randomize_scene: Setting poses for 84 objects [json_eval_task_sampler.py: 686] +05/27 19:20:41 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 19:20:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 19:20:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 19:20:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 19:20:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 19:20:41 INFO: [Worker 0] Sampled task 'Pick up the sculpture and place it next to the yellow handled knife' [task_sampler.py: 1136] +05/27 19:20:41 INFO: [Worker 0] Worker 0 house 9259 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 19:20:41 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 19:22:17 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 19:23:54 INFO: [Worker 0] Worker 0 house 9259 episode 0 object objadecorativecarving_5aa3736a4568498ea1cd62c0a0aeac5a_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 19:23:58 INFO: [Worker 0] Batching and saving trajectory data for house_9259: 1 episodes [pipeline.py: 233] +05/27 19:23:58 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 19:24:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 19:24:01 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9259 [save_utils.py: 703] +05/27 19:24:01 INFO: [Worker 0] Successfully saved trajectory data for house_9259 in 2.92s (batch: 2.83s, save: 0.09s) [pipeline.py: 280] +05/27 19:24:02 WARNING: [Worker 0] No trajectory data to save for house_9259 [pipeline.py: 229] +05/27 19:24:02 INFO: [Worker 0] Worker 0 completed house 9259: 0/1 successful episodes [pipeline.py: 1243] +05/27 19:24:02 INFO: [Worker 0] Worker 0 starting house 9327 (index 106/114) [pipeline.py: 473] +05/27 19:24:02 INFO: [Worker 0] Loaded 1 episodes for house 9327 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 19:24:02 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 19:24:19 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9327_ceiling.xml [task_sampler.py: 797] +05/27 19:24:19 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9327, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 19:24:19 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 19:24:19 INFO: [Worker 0] randomize_scene: Setting poses for 59 objects [json_eval_task_sampler.py: 686] +05/27 19:24:19 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 19:24:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 19:24:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 19:24:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 19:24:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 19:24:19 INFO: [Worker 0] Sampled task 'Pick up the green packet and place it next to the golden brown loaf of bread' [task_sampler.py: 1136] +05/27 19:24:19 INFO: [Worker 0] Worker 0 house 9327 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 19:24:19 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 19:26:02 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 19:38:49 INFO: [Worker 0] Worker 0 house 9327 episode 0 object objafoodpacket_58ff4a1e3fb24fbca6989f9b6d1fe23e_1_0_8 completed with success=False [pipeline.py: 1114] +05/27 19:38:53 INFO: [Worker 0] Batching and saving trajectory data for house_9327: 1 episodes [pipeline.py: 233] +05/27 19:38:53 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 19:38:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 19:38:56 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9327 [save_utils.py: 703] +05/27 19:38:56 INFO: [Worker 0] Successfully saved trajectory data for house_9327 in 2.98s (batch: 2.89s, save: 0.09s) [pipeline.py: 280] +05/27 19:38:57 WARNING: [Worker 0] No trajectory data to save for house_9327 [pipeline.py: 229] +05/27 19:38:57 INFO: [Worker 0] Worker 0 completed house 9327: 0/1 successful episodes [pipeline.py: 1243] +05/27 19:38:57 INFO: [Worker 0] Worker 0 starting house 9431 (index 107/114) [pipeline.py: 473] +05/27 19:38:57 INFO: [Worker 0] Loaded 1 episodes for house 9431 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 19:38:57 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 19:39:16 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9431_ceiling.xml [task_sampler.py: 797] +05/27 19:39:16 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9431, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 19:39:16 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 19:39:16 INFO: [Worker 0] randomize_scene: Setting poses for 25 objects [json_eval_task_sampler.py: 686] +05/27 19:39:16 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 19:39:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 19:39:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 19:39:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 19:39:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 19:39:16 INFO: [Worker 0] Sampled task 'Pick up the small brown paper bag and place it next to the shallow round metallic cooking pan with handles' [task_sampler.py: 1136] +05/27 19:39:16 INFO: [Worker 0] Worker 0 house 9431 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 19:39:16 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 19:48:31 INFO: [Worker 0] Worker 0 house 9431 episode 0 object objapaperbag_9ccf2fce68ea45e0b0861038d5aa035d_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 19:48:35 INFO: [Worker 0] Batching and saving trajectory data for house_9431: 1 episodes [pipeline.py: 233] +05/27 19:48:35 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 19:48:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 19:48:38 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9431 [save_utils.py: 703] +05/27 19:48:38 INFO: [Worker 0] Successfully saved trajectory data for house_9431 in 2.83s (batch: 2.74s, save: 0.09s) [pipeline.py: 280] +05/27 19:48:39 WARNING: [Worker 0] No trajectory data to save for house_9431 [pipeline.py: 229] +05/27 19:48:39 INFO: [Worker 0] Worker 0 completed house 9431: 0/1 successful episodes [pipeline.py: 1243] +05/27 19:48:39 INFO: [Worker 0] Worker 0 starting house 9511 (index 108/114) [pipeline.py: 473] +05/27 19:48:39 INFO: [Worker 0] Loaded 1 episodes for house 9511 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 19:48:39 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 19:48:48 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9511_ceiling.xml [task_sampler.py: 797] +05/27 19:48:48 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9511, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 19:48:48 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 19:48:48 INFO: [Worker 0] randomize_scene: Setting poses for 40 objects [json_eval_task_sampler.py: 686] +05/27 19:48:48 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 19:48:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 19:48:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 19:48:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 19:48:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 19:48:48 INFO: [Worker 0] Sampled task 'Pick up the white rectangular component with wires and place it next to the tall white candle on dark holder' [task_sampler.py: 1136] +05/27 19:48:48 INFO: [Worker 0] Worker 0 house 9511 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 19:48:48 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 20:00:07 INFO: [Worker 0] Worker 0 house 9511 episode 0 object objaelectricalcomponent_aab3af6780ff4bb7a5ec47cb4046d811_2_0_7 completed with success=False [pipeline.py: 1114] +05/27 20:00:11 INFO: [Worker 0] Batching and saving trajectory data for house_9511: 1 episodes [pipeline.py: 233] +05/27 20:00:11 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 20:00:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 20:00:14 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9511 [save_utils.py: 703] +05/27 20:00:14 INFO: [Worker 0] Successfully saved trajectory data for house_9511 in 2.93s (batch: 2.84s, save: 0.09s) [pipeline.py: 280] +05/27 20:00:15 WARNING: [Worker 0] No trajectory data to save for house_9511 [pipeline.py: 229] +05/27 20:00:15 INFO: [Worker 0] Worker 0 completed house 9511: 0/1 successful episodes [pipeline.py: 1243] +05/27 20:00:15 INFO: [Worker 0] Worker 0 starting house 9591 (index 109/114) [pipeline.py: 473] +05/27 20:00:15 INFO: [Worker 0] Loaded 1 episodes for house 9591 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 20:00:15 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 20:00:22 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9591_ceiling.xml [task_sampler.py: 797] +05/27 20:00:22 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9591, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 20:00:22 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 20:00:22 INFO: [Worker 0] randomize_scene: Setting poses for 19 objects [json_eval_task_sampler.py: 686] +05/27 20:00:22 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 20:00:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 20:00:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 20:00:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 20:00:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 20:00:22 INFO: [Worker 0] Sampled task 'Pick up the vintage wooden hand plane with blade and place it next to the cream hardcover unix programming book' [task_sampler.py: 1136] +05/27 20:00:22 INFO: [Worker 0] Worker 0 house 9591 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 20:00:22 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 20:02:02 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 20:08:28 INFO: [Worker 0] Worker 0 house 9591 episode 0 object objahandplane_14a7c067deec4920bf94b61f67126f31_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 20:08:31 INFO: [Worker 0] Batching and saving trajectory data for house_9591: 1 episodes [pipeline.py: 233] +05/27 20:08:31 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 20:08:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 20:08:33 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9591 [save_utils.py: 703] +05/27 20:08:33 INFO: [Worker 0] Successfully saved trajectory data for house_9591 in 2.18s (batch: 2.09s, save: 0.09s) [pipeline.py: 280] +05/27 20:08:33 WARNING: [Worker 0] No trajectory data to save for house_9591 [pipeline.py: 229] +05/27 20:08:33 INFO: [Worker 0] Worker 0 completed house 9591: 0/1 successful episodes [pipeline.py: 1243] +05/27 20:08:33 INFO: [Worker 0] Worker 0 starting house 9660 (index 110/114) [pipeline.py: 473] +05/27 20:08:33 INFO: [Worker 0] Loaded 1 episodes for house 9660 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 20:08:33 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 20:08:41 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9660_ceiling.xml [task_sampler.py: 797] +05/27 20:08:41 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9660, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 20:08:41 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 20:08:41 INFO: [Worker 0] randomize_scene: Setting poses for 19 objects [json_eval_task_sampler.py: 686] +05/27 20:08:41 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 20:08:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 20:08:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 20:08:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 20:08:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 20:08:41 INFO: [Worker 0] Sampled task 'Pick up the headphone and place it next to the sandglass' [task_sampler.py: 1136] +05/27 20:08:41 INFO: [Worker 0] Worker 0 house 9660 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 20:08:41 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 20:10:21 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 20:17:41 INFO: [Worker 0] Worker 0 house 9660 episode 0 object objaheadset_b2c1fc509240456894c803a7d77dd549_1_0_3 completed with success=False [pipeline.py: 1114] +05/27 20:17:44 INFO: [Worker 0] Batching and saving trajectory data for house_9660: 1 episodes [pipeline.py: 233] +05/27 20:17:44 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 20:17:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 20:17:47 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9660 [save_utils.py: 703] +05/27 20:17:47 INFO: [Worker 0] Successfully saved trajectory data for house_9660 in 2.39s (batch: 2.29s, save: 0.09s) [pipeline.py: 280] +05/27 20:17:47 WARNING: [Worker 0] No trajectory data to save for house_9660 [pipeline.py: 229] +05/27 20:17:47 INFO: [Worker 0] Worker 0 completed house 9660: 0/1 successful episodes [pipeline.py: 1243] +05/27 20:17:47 INFO: [Worker 0] Worker 0 starting house 9742 (index 111/114) [pipeline.py: 473] +05/27 20:17:47 INFO: [Worker 0] Loaded 1 episodes for house 9742 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 20:17:47 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 20:18:08 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9742_ceiling.xml [task_sampler.py: 797] +05/27 20:18:08 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9742, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 20:18:08 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 20:18:08 INFO: [Worker 0] randomize_scene: Setting poses for 29 objects [json_eval_task_sampler.py: 686] +05/27 20:18:08 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 20:18:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 20:18:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 20:18:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 20:18:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 20:18:08 INFO: [Worker 0] Sampled task 'Pick up the rubber mallet with handle and place it next to the red tomato' [task_sampler.py: 1136] +05/27 20:18:08 INFO: [Worker 0] Worker 0 house 9742 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 20:18:08 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 20:19:50 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 20:26:30 INFO: [Worker 0] Worker 0 house 9742 episode 0 object objarubbermallet_f6f3eee2d418463bbab1abe93e274d60_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 20:26:34 INFO: [Worker 0] Batching and saving trajectory data for house_9742: 1 episodes [pipeline.py: 233] +05/27 20:26:34 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 20:26:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 20:26:37 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9742 [save_utils.py: 703] +05/27 20:26:37 INFO: [Worker 0] Successfully saved trajectory data for house_9742 in 2.80s (batch: 2.71s, save: 0.09s) [pipeline.py: 280] +05/27 20:26:37 WARNING: [Worker 0] No trajectory data to save for house_9742 [pipeline.py: 229] +05/27 20:26:37 INFO: [Worker 0] Worker 0 completed house 9742: 0/1 successful episodes [pipeline.py: 1243] +05/27 20:26:37 INFO: [Worker 0] Worker 0 starting house 9850 (index 112/114) [pipeline.py: 473] +05/27 20:26:37 INFO: [Worker 0] Loaded 2 episodes for house 9850 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 20:26:37 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 20:26:51 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9850_ceiling.xml [task_sampler.py: 797] +05/27 20:26:51 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9850, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 20:26:51 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 20:26:51 INFO: [Worker 0] randomize_scene: Setting poses for 18 objects [json_eval_task_sampler.py: 686] +05/27 20:26:51 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 20:26:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 20:26:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 20:26:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 20:26:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 20:26:51 INFO: [Worker 0] Sampled task 'Pick up the glossy black remote control and place it next to the toytower' [task_sampler.py: 1136] +05/27 20:26:51 INFO: [Worker 0] Worker 0 house 9850 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/27 20:26:51 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 20:26:51 WARNING: [Worker 0] Could not find object objahandle_a168ec0564fb4a1e98caadee6866be28_1_0_2 in scene [object_manager.py: 1238] +05/27 20:26:51 WARNING: [Worker 0] Could not find object soapdispenser_d9d42e7cce766240326bcd4fc80dc6a7_1_0_2 in scene [object_manager.py: 1238] +05/27 20:28:27 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 20:35:15 INFO: [Worker 0] Worker 0 house 9850 episode 0 object objaremotecontrol_bd51773c52e54812a88c38c14935ae98_1_0_3 completed with success=False [pipeline.py: 1114] +05/27 20:35:19 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 20:35:21 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9850_ceiling.xml [task_sampler.py: 797] +05/27 20:35:21 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9850, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 20:35:21 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 20:35:21 INFO: [Worker 0] randomize_scene: Setting poses for 18 objects [json_eval_task_sampler.py: 686] +05/27 20:35:21 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 20:35:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 20:35:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 20:35:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 20:35:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 20:35:21 INFO: [Worker 0] Sampled task 'Pick up the whimsical pink roofed tower and place it next to the sleek glossy black remote control' [task_sampler.py: 1136] +05/27 20:35:21 INFO: [Worker 0] Worker 0 house 9850 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/27 20:35:21 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 20:35:21 WARNING: [Worker 0] Could not find object objahandle_a168ec0564fb4a1e98caadee6866be28_1_0_2 in scene [object_manager.py: 1238] +05/27 20:35:21 WARNING: [Worker 0] Could not find object soapdispenser_d9d42e7cce766240326bcd4fc80dc6a7_1_0_2 in scene [object_manager.py: 1238] +05/27 20:37:00 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 20:43:43 INFO: [Worker 0] Worker 0 house 9850 episode 1 object objatoytower_9c57f4e2d52845058a6a93f44cc999d9_1_0_3 completed with success=False [pipeline.py: 1114] +05/27 20:43:47 INFO: [Worker 0] Batching and saving trajectory data for house_9850: 2 episodes [pipeline.py: 233] +05/27 20:43:47 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 20:43:50 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 20:43:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 20:43:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 20:43:53 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9850 [save_utils.py: 703] +05/27 20:43:53 INFO: [Worker 0] Successfully saved trajectory data for house_9850 in 5.74s (batch: 5.57s, save: 0.17s) [pipeline.py: 280] +05/27 20:43:54 WARNING: [Worker 0] No trajectory data to save for house_9850 [pipeline.py: 229] +05/27 20:43:54 INFO: [Worker 0] Worker 0 completed house 9850: 0/2 successful episodes [pipeline.py: 1243] +05/27 20:43:54 INFO: [Worker 0] Worker 0 starting house 9899 (index 113/114) [pipeline.py: 473] +05/27 20:43:54 INFO: [Worker 0] Loaded 1 episodes for house 9899 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 [json_eval_runner.py: 278] +05/27 20:43:54 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 20:44:03 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9899_ceiling.xml [task_sampler.py: 797] +05/27 20:44:03 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9899, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 20:44:03 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 20:44:03 INFO: [Worker 0] randomize_scene: Setting poses for 23 objects [json_eval_task_sampler.py: 686] +05/27 20:44:03 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 20:44:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 20:44:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 20:44:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 20:44:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 20:44:03 INFO: [Worker 0] Sampled task 'Pick up the vase and place it next to the cream hardcover unix programming book' [task_sampler.py: 1136] +05/27 20:44:03 INFO: [Worker 0] Worker 0 house 9899 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 20:44:03 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 20:45:41 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 20:52:42 INFO: [Worker 0] Worker 0 house 9899 episode 0 object vase_485850bef5e28630dd1156aaec2e3528_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 20:52:45 INFO: [Worker 0] Batching and saving trajectory data for house_9899: 1 episodes [pipeline.py: 233] +05/27 20:52:45 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 20:52:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 20:52:47 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9899 [save_utils.py: 703] +05/27 20:52:47 INFO: [Worker 0] Successfully saved trajectory data for house_9899 in 2.26s (batch: 2.17s, save: 0.09s) [pipeline.py: 280] +05/27 20:52:48 WARNING: [Worker 0] No trajectory data to save for house_9899 [pipeline.py: 229] +05/27 20:52:48 INFO: [Worker 0] Worker 0 completed house 9899: 0/1 successful episodes [pipeline.py: 1243] +05/27 20:52:48 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 526] +05/27 20:52:48 INFO: Completed 114 houses, skipped 0 houses [pipeline.py: 1496] +05/27 20:52:48 INFO: Success count: 5, Total count: 118 [pipeline.py: 1499] +05/27 20:52:48 INFO: Success rate: 4.24% [pipeline.py: 1500] diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/episode_results.jsonl b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/episode_results.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..789b6a2ab4a380d424e489585f0de29ddaa3e856 --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/episode_results.jsonl @@ -0,0 +1,118 @@ +{"house_id": "house_1065", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the circular stone disc with hole and place it next to the small glossy turquoise eye of horus amulet", "object_name": "objastonedisc_bb31ba58de6e457aa1251a63ede16de2_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1065/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1184", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rustic round clay dish with handles and place it next to the transparent tall wine glass", "object_name": "objaclaydish_fb56f8968a9c443897498a9ccf5c46d1_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1184/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1265", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red u-shaped magnet and place it next to the smooth green rectangular pillow cushion", "object_name": "objamagnet_a734ce1339d44d2fbad906439777be78_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1265/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1339", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray metal bolt and place it next to the simple light brown ceramic bowl", "object_name": "objabolt_4f48638f93984ef0a7e6cfc6cc1e08f2_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1339/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1415", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the clothes iron and place it next to the rusty adjustable metal wrench", "object_name": "objaclothesiron_586af9dfd18d4244a46f5e5e0a474be6_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1415/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1552", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage brown leather helmet and place it next to the pink and black toy sniper rifle", "object_name": "objaaviatorhelmet_1c5917c1e9d147a984725886fc917ea7_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1552/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1667", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gold and white cross medal and place it next to the light blue plastic bottle", "object_name": "objamedal_4d3a363b65fc4ace9d01178a16337840_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1667/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1734", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark gray matte bowl with ridges and place it next to the glossy yellow vase rounded", "object_name": "bowl_847a24bfa9d8b1a1f26661ebbb850f56_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1734/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1793", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the irregular pale off-white rawhide piece and place it next to the miniature tall column with golden statue", "object_name": "objarawhide_45af38b66555426a8c719a7507a35930_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1793/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1916", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue pcb and place it next to the soft orange plaid pillow cushion", "object_name": "objaprintedcircuitboard_0c1eb50df8de4c2d9d4d694014204d86_2_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1916/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2025", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the tall cream colored candle and place it next to the green plastic spray bottle with nozzle", "object_name": "objacandle_5db8644a217c4525a89b5d6bc42265e9_1_0_5", "data_file_path": 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"task_description": "Pick up the black chef knife and place it next to the glossy green cup with flared rim", "object_name": "objachefsknife_1e7b5d7445884162b4154bd80e587baf_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2834/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2892", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the adhesivetape and place it next to the soapdispenser", "object_name": "objaadhesivetape_a579c57c161d4e4babf9761d601ddd2c_1_0_6", "data_file_path": 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container and place it next to the sorbent", "object_name": "objadispenser_dae48a392c5a4f3aa00235e664ee7d4d_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3122/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3224", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue metal clamp and place it next to the cassette recorder", "object_name": "objabarclamp_cb6dfd3688694664b9fadfe4556882d1_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3224/trajectories_batch_1_of_1.h5", "metadata": {}} 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and yellow handheld radio and place it next to the gray sculpture with textured indentations", "object_name": "objahandheldradio_5e2b1233523f47adbe3e9e894568f0d2_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3500/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3577", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the compact black rail mount with slots and place it next to the simple light brown ceramic bowl", "object_name": "objarailmount_221ab95129a74da18fbab9b1e15d77f3_1_0_4", "data_file_path": 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"metadata": {}} +{"house_id": "house_3816", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green and black pliers and place it next to the small grassy patch with dirt", "object_name": "objapliers_5a293649f3f64061accc9afdb4008c25_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3816/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3871", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the round soft fuzzy peach and place it next to the red toy rocket with fins", "object_name": "objafruit_bb7f4908308d4ba5bce1b07d4d730904_1_0_8", "data_file_path": 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"task_description": "Pick up the small white bird and place it next to the green hardcover book titled the effective engineer", "object_name": "objadecorativebird_0aac489fda0d4e91845b6623e64db21c_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4298/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4345", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the yellow card featuring snoopy flowers and place it next to the wooden roller with spikes and carving", "object_name": "objagreetingcard_8870ef6ecfa9458b9cb383033f8f699f_1_0_4", "data_file_path": 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449, "task_description": "Pick up the cutter and place it next to the simple light brown ceramic bowl", "object_name": "objaknife_c043b12ebc1b41c8813036247e6b2f54_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4514/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4636", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the teal cordless angle grinder tool and place it next to the black wall hook with red accent", "object_name": "objaanglegrinder_a49df09b961d426d8ae7fbba02feb228_1_0_3", "data_file_path": 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"task_description": "Pick up the garden truck and place it next to the blue bottle", "object_name": "objacucumber_2f0743a1d27345269d1444a8becfce59_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4696/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4696", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the compact camouflage tactical pouch with buckle and place it next to the small shiny gold dog statue", "object_name": "objatacticalpouch_4d76d1d1fc934a0cbccddd28103b2657_1_0_2", "data_file_path": 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"num_steps": 272, "task_description": "Pick up the slender smooth beige animal horn and place it next to the soapdispenser", "object_name": "objadecorativehorn_20097ccba5444c968beff4890ecd2402_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4821/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4917", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the whimsical chicken figure in costume and place it next to the small green house plant", "object_name": "objacostumefigure_0bd37fcf74214be0b2e0b8d1b4105aea_1_0_9", "data_file_path": 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449, "task_description": "Pick up the rustic wooden mug with handle and place it next to the red envelope with triangular gray flap", "object_name": "objamug_8529afb010814c188970381c3596afef_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5103/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5181", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red strawberry with green leaves and place it next to the yellow white package with curry", "object_name": "objadecorativefruit_963a56c7201143eba6bbcdf2ad60c1c3_1_0_6", "data_file_path": 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"task_description": "Pick up the mosaic fragment and place it next to the white toilet paper roll", "object_name": "objamosaicfragment_780cc0fe43954935b548b72e5c9e129d_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5418/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5507", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 168, "task_description": "Pick up the gold headphones with red padding and place it next to the green smartphone with black touchscreen", "object_name": "objaheadphones_298b981b427947188a1b361bf65a2c98_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5507/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5578", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the textured red pomegranate and place it next to the fresh green lettuce", "object_name": "objapomegranate_af8ba5fe1b2744c1a70092eb44932a16_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5578/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5632", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white saturn v rocket with markings and place it next to the orange plaid pillow cushion", "object_name": "objamodelrocket_782d80395e25463a815a92e883c86c02_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5632/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5708", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the amber cylindrical prescription pill bottle and place it next to the foodstuff", "object_name": "objapillbottle_7339a87dac884f1e8aeed3bf80dc0a5f_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5708/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5836", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark metal hinge with pivot and place it next to the dark muscular statue standing dynamically", "object_name": "objahinge_d443380245cb4898bc96b341d37bcd43_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5836/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5907", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the serene stone statue with patterned robe and place it next to the silver bullet with red band tip", "object_name": "objastatue_a8e9e70f3ca14aa7a21b3e9ac2eacbd9_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5907/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_591", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the large rusty metal nail and place it next to the fresh round green lettuce", "object_name": "objanail_7ef93eea9c5349abb276931726681dc3_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_591/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5980", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the hand axe and place it next to the slim pink cellphone with buttons", "object_name": "objahandaxe_b0b87362f235438dbd703daa13551696_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5980/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6083", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray stone and place it next to the detailed red and white race car", "object_name": "objastoneartifact_fc6cadc870a841cc8edb35bc21f9a004_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6083/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6153", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the soapdispenser and place it next to the spray", "object_name": "soapdispenser_4d425f15f8385d9b5381f2b606372c15_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6153/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6240", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rusty spray paint can with blue and place it next to the blue bomb with white skull emblem", "object_name": "objaspraypaintcan_9e725e49c0074fc0a1a08cacc85ee898_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6240/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_628", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the circular gold ornate openwork ornament and place it next to the shiny gold vase", "object_name": "objadecorativefixture_e14a2e218f6e4a588489e4b5508bff5e_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_628/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6287", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black hat yellow plume and place it next to the green lenses on night vision goggles", "object_name": "objamarchingbandhat_04ca4cc9ff7c4546a438d55c727fc557_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6287/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6348", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the brown moth and place it next to the rectangular dark teal box", "object_name": "objamoth_c4c8eb2f231447009230db56835f76a7_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6348/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6403", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage red wall-mounted rotary telephone and place it next to the light blue labeled cleaning bottle", "object_name": "objarotarytelephone_0beb78c11c0f4537a27c53f8e46ddb86_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6403/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6515", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 84, "task_description": "Pick up the red torii gate with black and place it next to the tall black top hat", "object_name": "objaminiaturemodel_5ab1392182d345b49b3391f7776339e9_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6515/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6616", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the round metallic lid with handle and place it next to the small red potato with texture", "object_name": "objalid_dfddb32ab2c64ee2a96f905feb9d467f_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6616/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6733", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wooden pestle with jagged top and place it next to the white ceramic vase with ridges", "object_name": "objapestle_668fa2b7443e423f8b0d252d82a3d100_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6733/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6787", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the glossy dark angular architectural cornice and place it next to the plesiosaurus", "object_name": "objaarchitecturalmolding_f13cbb13a3ac48f4bd7e1dd9187a55d6_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6787/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6787", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black vr headset with antennas and place it next to the shiny metallic key with notches", "object_name": "objavirtualrealityheadset_3cd83343e5c6450db20895a88fbd4de2_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6787/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6819", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the robust metal door lock mechanism and place it next to the bulbous shiny gold vase", "object_name": "objadoorlock_3d56a40e1bae492b89072f71651d2d63_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6819/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6930", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the nightvisiongoggles and place it next to the glossy blue vase", "object_name": "objanightvisiongoggles_396b90fb83cb4f06b96b1f9a120af75b_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6930/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_699", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray polished human hand statue and place it next to the large black hardcover book titled noughts", "object_name": "statue_e2da6cf9030ad270d01ac0fa5001917f_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_699/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6991", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray stone arrowhead with pink and place it next to the white rabbit pink eyes", "object_name": "objaarrowhead_a3ba93523eed41f69c1e55e55ebb7789_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6991/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_7043", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the eye model and place it next to the medium red apple", "object_name": "objaeyemodel_bba987e54f5d4724b9ffb799c8d98895_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7043/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_7126", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the yellow truck with gray container trailer and place it next to the neuron model", "object_name": "objatoytruck_2819f02722574b59b5efc5c3e62f3b2c_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7126/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_7192", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue birthday card with fox and rabbit and place it next to the furniture", "object_name": "objagreetingcard_5c7029b2edd248cdafcfd33c93ff1728_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7192/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_7319", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the yellow black wasp and place it next to the dark vintage folding camera", "object_name": "objainsect_4c74d77df5ee41948218f8a620ec1228_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7319/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_7356", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the circular stone disc with hole and place it next to the irregular brown rock with colorful minerals", "object_name": "objastonedisc_bb31ba58de6e457aa1251a63ede16de2_2_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7356/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_7434", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red scissors with metallic blades and place it next to the light brown soil with skeleton exposed", "object_name": "objascissors_b0fdda96fcb94002b8be3077f5b95299_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7434/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_744", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gas torch and place it next to the white and teal instant camera", "object_name": "objagastorch_9d24aac8a4c444a1b440647aa6f96438_2_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_744/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_7480", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green manual can opener and place it next to the teal spiral wand", "object_name": "objacanopener_8237129bfae244d7a62d706937f9f106_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7480/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_7613", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the multicolored thick glasses and place it next to the glossy wooden tapered cup", "object_name": "objaeyeglasses_64eab051bace4d45a878fdf664f8baac_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7613/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_7705", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the orange delivery van with windows and place it next to the slim blue phone device", "object_name": "objatoyvehicle_8132c0db249843ba932920251b0e3770_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7705/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_7790", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the eggs and place it next to the tall copper cup with ridges", "object_name": "egg_42ba097bdb4a3b55fe0b3765a6f91265_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7790/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_7871", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the round brown ceramic dish with fish and place it next to the tall clear cup", "object_name": "objaceramicdish_188a46ce27e04b76abc01ba942ccb69d_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7871/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_7985", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the silver sword with yellow hilt and gem and place it next to the cutlery", "object_name": "objatoysword_a9890b83a9dc4b9799ab8799f00325cc_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7985/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_803", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the sleek turquoise tape dispenser with base and place it next to the black paint can", "object_name": "objatapedispenser_2988a85fdf0f4a679b17335bd8e26871_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_803/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8087", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the iced snowman gingerbread cookie and place it next to the small shiny gold dog statue", "object_name": "objacookie_1929e4a4db3d4a619b7aec1bc1268c83_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8087/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8177", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the polished smooth golden circular ring and place it next to the brown wooden gavel", "object_name": "objaring_c20681970f3f4e449aeec50291be17b1_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8177/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8235", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gold opera glasses and place it next to the brown fedora hat with blue band", "object_name": "objaoperaglasses_a6bf64a282b247cb9784f862e5da27e1_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8235/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8314", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white connector with multiple yellow wires and place it next to the smooth translucent white bowl", "object_name": "objaelectricalconnector_e55fbf1db52c4c99b680d800424b851b_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8314/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8392", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the cleaning sponge and place it next to the white tape dispenser", "object_name": "objacleaningsponge_afd092fac12f4ef8984b80d3d15de232_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8392/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8478", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the toy sword and place it next to the book", "object_name": "objatoysword_3cab1a6d7fd045c6983b41b821b6cc26_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8478/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8546", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the soft flat round bread with spots and place it next to the blue rectangular frying pan", "object_name": "objaflatbread_7aecee021b9f464bbc5ac80d7d8308a4_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8546/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8662", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the lightweight camouflage glider and place it next to the dark plaque", "object_name": "objatoyplane_c210b610454f48488605759aa419c7af_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8662/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8727", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray video camera with handle and place it next to the stylized gray bird with orange beak", "object_name": "objavideocamera_55426eda2ba244a4b177e4b85400937c_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8727/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_884", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue can and place it next to the blue soap bottle with pump", "object_name": "objaspraycan_761fd13227bd411a9a10d9ecae0e6b8d_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_884/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8848", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white porcelain candlestick with cherubs and place it next to the light brown rectangular cardboard box", "object_name": "objacandlestick_576b8819466a4775815379687602a788_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8848/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8896", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage mobile phone and place it next to the smooth yellow apple with stem", "object_name": "objavintagemobilephone_e1a072af323f4d358bad054195353b96_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8896/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8981", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black curved remote control with buttons and place it next to the orange plaid pillow", "object_name": "objaremotecontrol_cf2b3e74a7b547e2a75dba0187584190_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8981/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9033", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the sharpener and place it next to the veg", "object_name": "objapencilsharpener_9906a13b5a5647dbad3c67a9150721cd_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9033/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9094", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the paintbrush with wooden handle and place it next to the blue hardcover book", "object_name": "objapaintbrush_be6bd6967866421ea9dff02b84062bdf_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9094/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9169", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red pagoda pop-up card and place it next to the brown cardboard box", "object_name": "objapopupcard_c384a40a36554ddeb1a0a08f8ec266d3_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9169/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9259", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the sculpture and place it next to the yellow handled knife", "object_name": "objadecorativecarving_5aa3736a4568498ea1cd62c0a0aeac5a_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9259/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9327", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green packet and place it next to the golden brown loaf of bread", "object_name": "objafoodpacket_58ff4a1e3fb24fbca6989f9b6d1fe23e_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9327/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9431", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the small brown paper bag and place it next to the shallow round metallic cooking pan with handles", "object_name": "objapaperbag_9ccf2fce68ea45e0b0861038d5aa035d_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9431/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9511", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white rectangular component with wires and place it next to the tall white candle on dark holder", "object_name": "objaelectricalcomponent_aab3af6780ff4bb7a5ec47cb4046d811_2_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9511/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9591", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage wooden hand plane with blade and place it next to the cream hardcover unix programming book", "object_name": "objahandplane_14a7c067deec4920bf94b61f67126f31_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9591/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9660", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the headphone and place it next to the sandglass", "object_name": "objaheadset_b2c1fc509240456894c803a7d77dd549_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9660/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9742", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rubber mallet with handle and place it next to the red tomato", "object_name": "objarubbermallet_f6f3eee2d418463bbab1abe93e274d60_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9742/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9850", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the glossy black remote control and place it next to the toytower", "object_name": "objaremotecontrol_bd51773c52e54812a88c38c14935ae98_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9850/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9850", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the whimsical pink roofed tower and place it next to the sleek glossy black remote control", "object_name": "objatoytower_9c57f4e2d52845058a6a93f44cc999d9_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9850/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_988", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the circular stone disc with hole and place it next to the bronze full-figured statue", "object_name": "objastonedisc_bb31ba58de6e457aa1251a63ede16de2_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_988/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9899", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vase and place it next to the cream hardcover unix programming book", "object_name": "vase_485850bef5e28630dd1156aaec2e3528_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9899/trajectories_batch_1_of_1.h5", "metadata": {}} diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/eval.log b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/eval.log new file mode 100644 index 0000000000000000000000000000000000000000..ace3973c8062f2c32dd739a04edad99a3f2c8739 --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/eval.log @@ -0,0 +1,3700 @@ +[2026-05-26 19:43:51,131] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath'] +[2026-05-26 19:43:51,133] INFO Using MuJoCo EGL device id: 1 +[2026-05-26 19:43:51,133] INFO Using pre-set MUJOCO_GL backend: egl +[2026-05-26 19:43:51,178] INFO Using MolmoSpaces benchmark: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 (source=arg) +[2026-05-26 19:43:53,191] INFO No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +[nltk_data] Downloading package wordnet to /home/yuanpei/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /home/yuanpei/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +[2026-05-26 19:44:03,529] INFO ResourceManager (R2RemoteStorage('https://pub-3555e9bb2d304fab9c6c79819e48aa40.r2.dev')) using: + symlink_dir=/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets + cache_dir=/home/yuanpei/.cache/molmo-spaces-resources + force_install=True +/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py:129: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +[2026-05-26 19:48:10,279] INFO Requested MolmoSpaces simulator cameras: ['droid_shoulder_light_randomization', 'wrist_camera_zed_mini'] +[2026-05-26 19:48:10,279] INFO Using save_video_sensors=['__none__'] +[2026-05-26 19:48:15,710] INFO Resolved MolmoSpaces action semantics from checkpoint: source=pnp_next_to_v2 type=molmo_raw arm_action_key=joint_pos_rel gripper_action_key=joint_pos action_type=joint_pos_rel arm_command_mode=joint_rel_position +[2026-05-26 19:48:15,755] INFO Using explicit task_horizon override: 450 steps +[05/26 19:48:16 INFO pipeline.py:677] WandB logging disabled (environment variables not set) +[2026-05-26 19:48:16,188] INFO JsonEvalRunner initialized: 114 houses, 118 episodes from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/26 19:48:16 INFO pipeline.py:1279] Starting house-by-house rollout of 114 houses with 2 episodes each (228 total episodes) using 1 worker processes +[05/26 19:48:16 INFO pipeline.py:1286] Evaluation configuration: +[05/26 19:48:16 INFO pipeline.py:1287] {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['droid_shoulder_light_randomization', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 'wan_molmobot_franka', + 'obs_camera_name': 'droid_shoulder_light_randomization', + 'obs_image_key': 'rgb_head', + 'obs_state_key': 'robot_state', + 'obs_wrist_camera_name': 'wrist_camera_zed_mini', + 'obs_wrist_image_key': 'rgb_wrist', + 'policy_cls': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [591, + 628, + 699, + 744, + 803, + 884, + 988, + 1065, + 1184, + 1265, + 1339, + 1415, + 1552, + 1667, + 1734, + 1793, + 1916, + 2025, + 2094, + 2201, + 2331, + 2434, + 2490, + 2599, + 2724, + 2834, + 2892, + 3019, + 3122, + 3224, + 3273, + 3346, + 3409, + 3500, + 3577, + 3677, + 3749, + 3816, + 3871, + 3993, + 4079, + 4191, + 4255, + 4298, + 4345, + 4439, + 4514, + 4636, + 4685, + 4696, + 4731, + 4821, + 4917, + 4999, + 5103, + 5181, + 5248, + 5418, + 5507, + 5578, + 5632, + 5708, + 5836, + 5907, + 5980, + 6083, + 6153, + 6240, + 6287, + 6348, + 6403, + 6515, + 6616, + 6733, + 6787, + 6819, + 6930, + 6991, + 7043, + 7126, + 7192, + 7319, + 7356, + 7434, + 7480, + 7613, + 7705, + 7790, + 7871, + 7985, + 8087, + 8177, + 8235, + 8314, + 8392, + 8478, + 8546, + 8662, + 8727, + 8848, + 8896, + 8981, + 9033, + 9094, + 9169, + 9259, + 9327, + 9431, + 9511, + 9591, + 9660, + 9742, + 9850, + 9899], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} +[2026-05-26 19:48:16,193] INFO Saved experiment configuration to /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815 +[05/26 19:48:16 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler +[05/26 19:48:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/26 19:48:16 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler +[05/26 19:48:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 591 (index 0/114) +[05/26 19:48:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 591 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/26 19:48:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +[05/26 19:48:35 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeaccessory_e47911ac361a45c3b6c7f2f1d9071876_1_0_5 in scene +[05/26 19:48:35 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeaccessory_e47911ac361a45c3b6c7f2f1d9071876_2_0_5 in scene +[05/26 19:48:35 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturetower_0780a7e5369442c3967681084a046588_1_0_5 in scene +[05/26 19:48:35 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene +Goal: place large rusty metal nail next to fresh round green lettuce +2026-05-26 19:48:36.018 | INFO | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0 +[2026-05-26 19:48:36,941] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k) +[2026-05-26 19:48:38,982] INFO [timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k] Safe alternative available for 'pytorch_model.bin' (as 'model.safetensors'). Loading weights using safetensors. +[2026-05-26 19:48:39,567] INFO Number of parameters in DiT: 1.821428e+07 +[2026-05-26 19:48:39,822] INFO Loaded generic psi-policy checkpoint | target=psi_policy.policy.psi_policy.PsiPolicy | obs_keys=['rgb_head', 'rgb_wrist', 'robot_state', 'text_context'] | action_horizon=16 | action_dim=8 +[2026-05-26 19:48:39,825] INFO Loaded MolmoSpaces policy | checkpoint=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt | target=psi_policy.policy.psi_policy.PsiPolicy | device=cuda:0 | action_chunk_size=8 +[05/26 19:48:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 19:57:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 591 episode 0 object objanail_7ef93eea9c5349abb276931726681dc3_1_0_6 completed with success=False +[05/26 19:57:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_591: 1 episodes +[05/26 19:57:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 19:57:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 19:57:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_591 +[05/26 19:57:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_591 in 2.84s (batch: 2.76s, save: 0.09s) +[05/26 19:57:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_591 +[05/26 19:57:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 591: 0/1 successful episodes +[05/26 19:57:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 628 (index 1/114) +[05/26 19:57:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 628 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/26 19:57:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[05/26 19:58:07 Worker 0 WARNING object_manager.py:1238] Could not find object objaturbinewheel_95bbc607d38d4865b6d9618799710335_1_0_4 in scene +[05/26 19:58:07 Worker 0 WARNING object_manager.py:1238] Could not find object objabeltbuckle_74aa04de731f4b0a9c8dda34e07e1266_1_0_4 in scene +[05/26 19:58:07 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +[05/26 19:58:07 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativewallart_41ab3efe80974302bff69de2400e67bc_1_0_9 in scene +Goal: place circular gold ornate openwork ornament next to shiny gold vase +[2026-05-26 19:59:09,924] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/huggingface_hub/file_download.py:945: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`. + warnings.warn( +[05/26 19:59:42 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 20:13:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 628 episode 0 object objadecorativefixture_e14a2e218f6e4a588489e4b5508bff5e_1_0_4 completed with success=False +[05/26 20:13:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_628: 1 episodes +[05/26 20:13:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:13:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:13:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_628 +[05/26 20:13:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_628 in 2.76s (batch: 2.68s, save: 0.09s) +[05/26 20:13:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_628 +[05/26 20:13:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 628: 0/1 successful episodes +[05/26 20:13:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 699 (index 2/114) +[05/26 20:13:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 699 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/26 20:13:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[05/26 20:13:46 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingpanel_8bde878be8dd4fb7b6914db9c4dd31bb_1_0_9 in scene +Goal: place gray polished human hand statue next to large black hardcover book titled noughts +[2026-05-26 20:14:43,567] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 20:15:13 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 20:28:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 699 episode 0 object statue_e2da6cf9030ad270d01ac0fa5001917f_1_0_4 completed with success=False +[05/26 20:28:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_699: 1 episodes +[05/26 20:28:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:28:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:28:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_699 +[05/26 20:28:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_699 in 2.97s (batch: 2.88s, save: 0.09s) +[05/26 20:28:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_699 +[05/26 20:28:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 699: 0/1 successful episodes +[05/26 20:28:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 744 (index 3/114) +[05/26 20:28:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 744 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/26 20:28:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +Goal: place gas torch next to white and teal instant camera +[2026-05-26 20:29:38,232] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 20:30:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 20:38:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 744 episode 0 object objagastorch_9d24aac8a4c444a1b440647aa6f96438_2_0_6 completed with success=False +[05/26 20:38:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_744: 1 episodes +[05/26 20:38:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:38:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:38:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_744 +[05/26 20:38:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_744 in 2.95s (batch: 2.86s, save: 0.09s) +[05/26 20:38:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_744 +[05/26 20:38:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 744: 0/1 successful episodes +[05/26 20:38:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 803 (index 4/114) +[05/26 20:38:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 803 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/26 20:38:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +Goal: place sleek turquoise tape dispenser with base next to black paint can +[2026-05-26 20:40:06,646] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 20:50:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 803 episode 0 object objatapedispenser_2988a85fdf0f4a679b17335bd8e26871_1_0_5 completed with success=False +[05/26 20:50:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_803: 1 episodes +[05/26 20:50:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:50:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:50:12 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_803 +[05/26 20:50:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_803 in 2.87s (batch: 2.78s, save: 0.09s) +[05/26 20:50:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_803 +[05/26 20:50:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 803: 0/1 successful episodes +[05/26 20:50:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 884 (index 5/114) +[05/26 20:50:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 884 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/26 20:50:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +[05/26 20:50:33 Worker 0 WARNING object_manager.py:1238] Could not find object objaaircraftmodel_af978d4fc4f6450a8108f62cd11941b8_1_0_6 in scene +[05/26 20:50:33 Worker 0 WARNING object_manager.py:1238] Could not find object objaprintedcircuitboard_dd07a5351c854a02bb6def55164023dd_1_0_6 in scene +Goal: place blue can next to blue soap bottle with pump +[2026-05-26 20:51:35,786] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:09:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 884 episode 0 object objaspraycan_761fd13227bd411a9a10d9ecae0e6b8d_1_0_5 completed with success=False +[05/26 21:09:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_884: 1 episodes +[05/26 21:09:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:09:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:09:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_884 +[05/26 21:09:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_884 in 2.80s (batch: 2.71s, save: 0.09s) +[05/26 21:09:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_884 +[05/26 21:09:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 884: 0/1 successful episodes +[05/26 21:09:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 988 (index 6/114) +[05/26 21:09:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 988 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/26 21:09:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +[05/26 21:10:05 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +Goal: place circular stone disc with hole next to bronze full-figured statue +[2026-05-26 21:11:01,473] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:11:33 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 21:22:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 988 episode 0 object objastonedisc_bb31ba58de6e457aa1251a63ede16de2_1_0_8 completed with success=False +[05/26 21:22:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_988: 1 episodes +[05/26 21:22:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:22:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:22:43 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_988 +[05/26 21:22:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_988 in 2.85s (batch: 2.76s, save: 0.09s) +[05/26 21:22:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_988 +[05/26 21:22:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 988: 0/1 successful episodes +[05/26 21:22:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1065 (index 7/114) +[05/26 21:22:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1065 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/26 21:22:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +Goal: place circular stone disc with hole next to small glossy turquoise eye of horus amulet +[2026-05-26 21:23:47,891] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:24:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 21:38:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 1065 episode 0 object objastonedisc_bb31ba58de6e457aa1251a63ede16de2_1_0_4 completed with success=False +[05/26 21:38:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1065: 1 episodes +[05/26 21:38:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:38:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:38:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1065 +[05/26 21:38:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1065 in 2.82s (batch: 2.73s, save: 0.09s) +[05/26 21:38:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1065 +[05/26 21:38:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1065: 0/1 successful episodes +[05/26 21:38:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1184 (index 8/114) +[05/26 21:38:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1184 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/26 21:38:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/6 [00:00 does not support tracking retries. +Goal: place rustic round clay dish with handles next to transparent tall wine glass +[2026-05-26 21:39:41,083] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:40:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 21:45:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 1184 episode 0 object objaclaydish_fb56f8968a9c443897498a9ccf5c46d1_1_0_2 completed with success=False +[05/26 21:45:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1184: 1 episodes +[05/26 21:45:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:45:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:45:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1184 +[05/26 21:45:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1184 in 2.87s (batch: 2.78s, save: 0.09s) +[05/26 21:45:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1184 +[05/26 21:45:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1184: 0/1 successful episodes +[05/26 21:45:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1265 (index 9/114) +[05/26 21:45:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1265 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/26 21:45:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[05/26 21:46:03 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaperroll_e1cf65984fff46168396e0b74861f845_1_0_7 in scene +[05/26 21:46:03 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_7 in scene +Goal: place red u-shaped magnet next to smooth green rectangular pillow cushion +[2026-05-26 21:47:03,568] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:47:34 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 21:59:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 1265 episode 0 object objamagnet_a734ce1339d44d2fbad906439777be78_1_0_9 completed with success=False +[05/26 21:59:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1265: 1 episodes +[05/26 21:59:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:59:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:59:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1265 +[05/26 21:59:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1265 in 2.26s (batch: 2.14s, save: 0.12s) +[05/26 21:59:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1265 +[05/26 21:59:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1265: 0/1 successful episodes +[05/26 21:59:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1339 (index 10/114) +[05/26 21:59:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1339 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/26 21:59:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/7 [00:00 does not support tracking retries. +Goal: place gray metal bolt next to simple light brown ceramic bowl +[2026-05-26 22:00:42,156] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:01:14 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 22:06:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 1339 episode 0 object objabolt_4f48638f93984ef0a7e6cfc6cc1e08f2_1_0_2 completed with success=False +[05/26 22:06:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1339: 1 episodes +[05/26 22:06:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:07:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:07:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1339 +[05/26 22:07:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1339 in 2.79s (batch: 2.70s, save: 0.09s) +[05/26 22:07:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1339 +[05/26 22:07:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1339: 0/1 successful episodes +[05/26 22:07:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1415 (index 11/114) +[05/26 22:07:03 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1415 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/26 22:07:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[05/26 22:07:33 Worker 0 WARNING object_manager.py:1238] Could not find object objafoil_1c043fb628124513b30a2d7d3ba26bac_1_0_5 in scene +[05/26 22:07:33 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_834d386e080077accc22e6eae5471528_1_0_5 in scene +Goal: place clothes iron next to rusty adjustable metal wrench +[2026-05-26 22:08:34,776] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:09:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 22:21:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 1415 episode 0 object objaclothesiron_586af9dfd18d4244a46f5e5e0a474be6_1_0_8 completed with success=False +[05/26 22:22:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1415: 1 episodes +[05/26 22:22:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:22:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:22:06 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1415 +[05/26 22:22:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1415 in 2.89s (batch: 2.80s, save: 0.09s) +[05/26 22:22:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1415 +[05/26 22:22:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1415: 0/1 successful episodes +[05/26 22:22:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1552 (index 12/114) +[05/26 22:22:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1552 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/26 22:22:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +[05/26 22:22:12 Worker 0 WARNING object_manager.py:1238] Could not find object objalantern_be2f9b16082544e2ac5f9f54a3d8eebc_1_0_7 in scene +[05/26 22:22:12 Worker 0 WARNING object_manager.py:1238] Could not find object objaartifact_3d4e113786854a1abfd0b00d141ca9e3_1_0_7 in scene +Goal: place vintage brown leather helmet next to pink and black toy sniper rifle +[2026-05-26 22:23:13,691] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:38:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 1552 episode 0 object objaaviatorhelmet_1c5917c1e9d147a984725886fc917ea7_1_0_9 completed with success=False +[05/26 22:38:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1552: 1 episodes +[05/26 22:38:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:38:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:38:25 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1552 +[05/26 22:38:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1552 in 2.89s (batch: 2.80s, save: 0.09s) +[05/26 22:38:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1552 +[05/26 22:38:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1552: 0/1 successful episodes +[05/26 22:38:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1667 (index 13/114) +[05/26 22:38:26 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1667 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/26 22:38:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +[05/26 22:39:18 Worker 0 WARNING object_manager.py:1238] Could not find object objamedicalmask_b52524319c70458db1c3a78f9c096afe_1_0_9 in scene +[05/26 22:39:18 Worker 0 WARNING object_manager.py:1238] Could not find object objaheadband_d49545a5b65a40bcade1370176d8950a_1_0_9 in scene +Goal: place gold and white cross medal next to light blue plastic bottle +[2026-05-26 22:40:19,583] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:40:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 22:56:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 1667 episode 0 object objamedal_4d3a363b65fc4ace9d01178a16337840_1_0_2 completed with success=False +[05/26 22:56:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1667: 1 episodes +[05/26 22:56:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:56:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:56:39 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1667 +[05/26 22:56:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1667 in 2.81s (batch: 2.73s, save: 0.09s) +[05/26 22:56:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1667 +[05/26 22:56:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1667: 0/1 successful episodes +[05/26 22:56:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1734 (index 14/114) +[05/26 22:56:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1734 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/26 22:56:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/25 [00:00 does not support tracking retries. +[05/26 22:57:02 Worker 0 WARNING object_manager.py:1238] Could not find object objamechanicalpencil_5807b5f6ebcf4dc1b731c6907b180af7_1_0_7 in scene +[05/26 22:57:02 Worker 0 WARNING object_manager.py:1238] Could not find object bowl_ab2df3cd7ba6e36f1f725f462a622119_1_0_7 in scene +Goal: place dark gray matte bowl with ridges next to glossy yellow vase rounded +[2026-05-26 22:58:04,638] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:58:39 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 23:10:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 1734 episode 0 object bowl_847a24bfa9d8b1a1f26661ebbb850f56_1_0_4 completed with success=False +[05/26 23:10:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1734: 1 episodes +[05/26 23:10:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:10:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:10:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1734 +[05/26 23:10:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1734 in 2.25s (batch: 2.16s, save: 0.09s) +[05/26 23:10:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1734 +[05/26 23:10:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1734: 0/1 successful episodes +[05/26 23:10:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1793 (index 15/114) +[05/26 23:10:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1793 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/26 23:10:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/53 [00:00 does not support tracking retries. +[05/26 23:10:30 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturelighthouse_3b5644ae7c3544088d92af4f43b3fb9a_1_0_5 in scene +[05/26 23:10:30 Worker 0 WARNING object_manager.py:1238] Could not find object objatissuebox_65d3d9a616c544f2b57f91c23ce4d68b_1_0_6 in scene +Goal: place irregular pale off-white rawhide piece next to miniature tall column with golden statue +[2026-05-26 23:11:32,653] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:12:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 23:27:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 1793 episode 0 object objarawhide_45af38b66555426a8c719a7507a35930_1_0_2 completed with success=False +[05/26 23:27:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1793: 1 episodes +[05/26 23:27:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:27:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:27:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1793 +[05/26 23:27:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1793 in 2.29s (batch: 2.19s, save: 0.09s) +[05/26 23:27:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1793 +[05/26 23:27:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1793: 0/1 successful episodes +[05/26 23:27:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1916 (index 16/114) +[05/26 23:27:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1916 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/26 23:27:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/58 [00:00 does not support tracking retries. +[05/26 23:27:12 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativekey_026dfb57bcb5406688a7b20dfbecc6c2_1_0_5 in scene +Goal: place blue pcb next to soft orange plaid pillow cushion +[2026-05-26 23:28:14,249] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:36:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 1916 episode 0 object objaprintedcircuitboard_0c1eb50df8de4c2d9d4d694014204d86_2_0_3 completed with success=False +[05/26 23:36:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1916: 1 episodes +[05/26 23:36:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:36:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:36:41 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1916 +[05/26 23:36:41 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1916 in 2.27s (batch: 2.18s, save: 0.09s) +[05/26 23:36:42 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1916 +[05/26 23:36:42 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1916: 0/1 successful episodes +[05/26 23:36:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2025 (index 17/114) +[05/26 23:36:42 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2025 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/26 23:36:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +Goal: place tall cream colored candle next to green plastic spray bottle with nozzle +[2026-05-26 23:39:26,423] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:39:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 23:47:53 Worker 0 INFO pipeline.py:1114] Worker 0 house 2025 episode 0 object objacandle_5db8644a217c4525a89b5d6bc42265e9_1_0_5 completed with success=False +[05/26 23:47:56 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2025: 1 episodes +[05/26 23:47:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:47:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:47:59 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2025 +[05/26 23:47:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2025 in 2.25s (batch: 2.16s, save: 0.09s) +[05/26 23:47:59 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2025 +[05/26 23:47:59 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2025: 0/1 successful episodes +[05/26 23:47:59 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2094 (index 18/114) +[05/26 23:47:59 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2094 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/26 23:47:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/62 [00:00 does not support tracking retries. +[05/26 23:49:02 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +Goal: place ancient greek black cup next to rectangular yellow plaid pillow +[2026-05-26 23:50:04,980] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:55:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 2094 episode 0 object objakylix_d9cc347595664f83bc1461c857756452_1_0_8 completed with success=True +[05/26 23:55:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2094: 1 episodes +[05/26 23:55:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 171 timesteps +[05/26 23:55:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:55:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2094 +[05/26 23:55:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2094 in 2.06s (batch: 2.01s, save: 0.05s) +[05/26 23:55:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2094 +[05/26 23:55:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2094: 1/1 successful episodes +[05/26 23:55:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2201 (index 19/114) +[05/26 23:55:35 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2201 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/26 23:55:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +Goal: place black grenade with red panels next to sharp black knife +[2026-05-27 00:03:21,517] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:09:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 2201 episode 0 object objagrenade_2fade8f2122d4af5b473cc42ddcb1319_1_0_2 completed with success=False +[05/27 00:09:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2201: 1 episodes +[05/27 00:09:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:09:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:09:57 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2201 +[05/27 00:09:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2201 in 2.73s (batch: 2.64s, save: 0.09s) +[05/27 00:09:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2201 +[05/27 00:09:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2201: 0/1 successful episodes +[05/27 00:09:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2331 (index 20/114) +[05/27 00:09:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2331 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 00:09:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/9 [00:00 does not support tracking retries. +Goal: place colorful ceramic decorative bowl next to black fish with fins +[2026-05-27 00:11:25,343] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:12:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:16:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 2331 episode 0 object objadecorativebowl_906fdc79f5d84e8e8b3b467e794a8c00_1_0_2 completed with success=False +[05/27 00:16:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2331: 1 episodes +[05/27 00:16:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:16:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:16:54 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2331 +[05/27 00:16:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2331 in 2.88s (batch: 2.79s, save: 0.09s) +[05/27 00:16:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2331 +[05/27 00:16:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2331: 0/1 successful episodes +[05/27 00:16:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2434 (index 21/114) +[05/27 00:16:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2434 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 00:16:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/56 [00:00 does not support tracking retries. +[05/27 00:17:23 Worker 0 WARNING object_manager.py:1238] Could not find object objascifiprop_5026a368dea643a38510c9c0556c8160_1_0_8 in scene +[05/27 00:17:23 Worker 0 WARNING object_manager.py:1238] Could not find object objaportableradio_4ce29893e26c4f9f9495708b6962f965_1_0_8 in scene +Goal: place compact camouflage weapon sight with reticle next to muscular dark glossy statue standing +[2026-05-27 00:18:25,433] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:18:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:36:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 2434 episode 0 object objaweaponsight_a7323938c943423a8a7adb8656b0168f_1_0_6 completed with success=False +[05/27 00:36:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2434: 1 episodes +[05/27 00:36:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:36:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:36:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2434 +[05/27 00:36:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2434 in 2.21s (batch: 2.12s, save: 0.09s) +[05/27 00:36:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2434 +[05/27 00:36:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2434: 0/1 successful episodes +[05/27 00:36:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2490 (index 22/114) +[05/27 00:36:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2490 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 00:36:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +[05/27 00:36:16 Worker 0 WARNING object_manager.py:1238] Could not find object objamountingbracket_3bdbefaa473e4bf5bf06a095689d00cb_1_0_2 in scene +Goal: place red lava spike next to houseplant +[2026-05-27 00:37:17,409] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:37:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:53:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 2490 episode 0 object objadecorativespike_0b7f50f543a24b84939dcb9a12754534_1_0_2 completed with success=False +[05/27 00:53:04 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2490: 1 episodes +[05/27 00:53:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:53:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:53:07 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2490 +[05/27 00:53:07 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2490 in 2.83s (batch: 2.74s, save: 0.09s) +[05/27 00:53:08 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2490 +[05/27 00:53:08 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2490: 0/1 successful episodes +[05/27 00:53:08 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2599 (index 23/114) +[05/27 00:53:08 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2599 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 00:53:08 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +[05/27 00:54:00 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturelighthouse_bde6dcab0a89413eba4422da59f19cef_1_0_5 in scene +[05/27 00:54:00 Worker 0 WARNING object_manager.py:1238] Could not find object objalighter_50b6e50751754a0d9c0fa8c6f950289b_1_0_5 in scene +Goal: place sleek dark rectangular phone next to golden brown loaf of bread +[2026-05-27 00:55:03,609] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:10:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 2599 episode 0 object cellulartelephone_43b2396be97b1322a94e498589888114_1_0_8 completed with success=False +[05/27 01:10:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2599: 1 episodes +[05/27 01:10:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:10:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:10:20 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2599 +[05/27 01:10:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2599 in 2.20s (batch: 2.11s, save: 0.09s) +[05/27 01:10:20 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2599 +[05/27 01:10:20 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2599: 0/1 successful episodes +[05/27 01:10:20 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2724 (index 24/114) +[05/27 01:10:20 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2724 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 01:10:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 does not support tracking retries. +[05/27 01:11:16 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_7 in scene +Goal: place blue disc with white airplane icon next to explosive device +[2026-05-27 01:12:18,968] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:27:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 2724 episode 0 object objadecorativedisc_26490714f2394b508764726a9341aefe_1_0_9 completed with success=False +[05/27 01:27:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2724: 1 episodes +[05/27 01:27:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:27:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:27:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2724 +[05/27 01:27:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2724 in 2.31s (batch: 2.22s, save: 0.09s) +[05/27 01:27:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2724 +[05/27 01:27:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2724: 0/1 successful episodes +[05/27 01:27:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2834 (index 25/114) +[05/27 01:27:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2834 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 01:27:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/27 01:27:32 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeplasterpanel_b1111ed6a740470da8d83ecd132ed6ec_1_0_5 in scene +[05/27 01:27:32 Worker 0 WARNING object_manager.py:1238] Could not find object fabric_8b382fcf75cb442de8954844ebbb6318_1_0_5 in scene +[05/27 01:27:32 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_8c6e5265f19b49709119c2628c2bdf3f_1_0_9 in scene +[05/27 01:27:32 Worker 0 WARNING object_manager.py:1238] Could not find object objaheadband_d49545a5b65a40bcade1370176d8950a_1_0_9 in scene +Goal: place black chef knife next to glossy green cup with flared rim +[2026-05-27 01:28:37,469] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:29:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 01:47:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 2834 episode 0 object objachefsknife_1e7b5d7445884162b4154bd80e587baf_1_0_2 completed with success=False +[05/27 01:47:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2834: 1 episodes +[05/27 01:47:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:47:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:47:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2834 +[05/27 01:47:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2834 in 2.29s (batch: 2.20s, save: 0.09s) +[05/27 01:47:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2834 +[05/27 01:47:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2834: 0/1 successful episodes +[05/27 01:47:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2892 (index 26/114) +[05/27 01:47:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2892 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 01:47:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/26 [00:00 does not support tracking retries. +[05/27 01:48:34 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativemap_953f774954d249b38943e1c8542db499_2_0_4 in scene +[05/27 01:48:34 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingpanel_8bde878be8dd4fb7b6914db9c4dd31bb_1_0_4 in scene +Goal: place adhesivetape next to soapdispenser +[2026-05-27 01:49:37,469] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:50:10 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 02:00:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 2892 episode 0 object objaadhesivetape_a579c57c161d4e4babf9761d601ddd2c_1_0_6 completed with success=False +[05/27 02:00:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2892: 1 episodes +[05/27 02:00:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:00:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:00:45 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2892 +[05/27 02:00:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2892 in 2.84s (batch: 2.75s, save: 0.09s) +[05/27 02:00:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2892 +[05/27 02:00:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2892: 0/1 successful episodes +[05/27 02:00:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3019 (index 27/114) +[05/27 02:00:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3019 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 02:00:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/27 02:00:51 Worker 0 WARNING object_manager.py:1238] Could not find object objaexternalharddrive_f8de4975c0f54c1a97203c6a674f6a39_1_0_5 in scene +[05/27 02:00:51 Worker 0 WARNING object_manager.py:1238] Could not find object fabric_8b382fcf75cb442de8954844ebbb6318_1_0_5 in scene +Goal: place handheld mirror next to decorative bird +[2026-05-27 02:01:57,408] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:16:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 3019 episode 0 object objahandheldmirror_2244842d4ea94f81aa5f222d891b60da_2_0_9 completed with success=False +[05/27 02:16:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3019: 1 episodes +[05/27 02:16:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:16:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:16:51 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3019 +[05/27 02:16:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3019 in 2.84s (batch: 2.75s, save: 0.09s) +[05/27 02:16:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3019 +[05/27 02:16:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3019: 0/1 successful episodes +[05/27 02:16:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3122 (index 28/114) +[05/27 02:16:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3122 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 02:16:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +Goal: place container next to sorbent +[2026-05-27 02:17:55,966] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:18:33 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 02:26:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 3122 episode 0 object objadispenser_dae48a392c5a4f3aa00235e664ee7d4d_1_0_3 completed with success=False +[05/27 02:26:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3122: 1 episodes +[05/27 02:26:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:26:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:26:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3122 +[05/27 02:26:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3122 in 2.27s (batch: 2.18s, save: 0.09s) +[05/27 02:26:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3122 +[05/27 02:26:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3122: 0/1 successful episodes +[05/27 02:26:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3224 (index 29/114) +[05/27 02:26:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3224 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 02:26:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +Goal: place blue metal clamp next to cassette recorder +[2026-05-27 02:27:34,266] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:28:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 02:43:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 3224 episode 0 object objabarclamp_cb6dfd3688694664b9fadfe4556882d1_1_0_4 completed with success=False +[05/27 02:43:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3224: 1 episodes +[05/27 02:43:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:43:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:43:45 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3224 +[05/27 02:43:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3224 in 2.28s (batch: 2.19s, save: 0.09s) +[05/27 02:43:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3224 +[05/27 02:43:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3224: 0/1 successful episodes +[05/27 02:43:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3273 (index 30/114) +[05/27 02:43:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3273 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 02:43:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/25 [00:00 does not support tracking retries. +Goal: place solid food next to classic blue and white camper van +[2026-05-27 02:44:53,506] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:45:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 02:53:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 3273 episode 0 object Irishpotato_19522f313a33f0a662dcc0b1aa19547c_1_0_6 completed with success=False +[05/27 02:54:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3273: 1 episodes +[05/27 02:54:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:54:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:54:06 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3273 +[05/27 02:54:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3273 in 2.78s (batch: 2.70s, save: 0.09s) +[05/27 02:54:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3273 +[05/27 02:54:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3273: 0/1 successful episodes +[05/27 02:54:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3346 (index 31/114) +[05/27 02:54:07 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3346 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 02:54:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +Goal: place blue clock next to rustic ceramic bowl with handles +[2026-05-27 02:55:23,901] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:56:03 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 03:07:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 3346 episode 0 object alarmclock_7e1337b32a9e0d9439bef16e80df0de2_1_0_6 completed with success=False +[05/27 03:07:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3346: 1 episodes +[05/27 03:07:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:07:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:07:52 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3346 +[05/27 03:07:52 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3346 in 2.80s (batch: 2.71s, save: 0.09s) +[05/27 03:07:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3346 +[05/27 03:07:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3346: 0/1 successful episodes +[05/27 03:07:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3409 (index 32/114) +[05/27 03:07:53 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3409 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 03:07:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/34 [00:00 does not support tracking retries. +Goal: place beige sponge next to white spine thin book +[2026-05-27 03:09:01,752] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:09:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 03:22:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 3409 episode 0 object objasponge_f21d15e2964648989a80c23bfa0b932c_1_0_2 completed with success=False +[05/27 03:22:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3409: 1 episodes +[05/27 03:22:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:22:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:22:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3409 +[05/27 03:22:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3409 in 2.21s (batch: 2.12s, save: 0.10s) +[05/27 03:22:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3409 +[05/27 03:22:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3409: 0/1 successful episodes +[05/27 03:22:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3500 (index 33/114) +[05/27 03:22:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3500 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 03:22:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +[05/27 03:22:37 Worker 0 WARNING object_manager.py:1238] Could not find object pillow_c434ce940f1b4c2d2b3652e7c1fc3eba_1_0_7 in scene +[05/27 03:22:37 Worker 0 WARNING object_manager.py:1238] Could not find object objaspring_3071830f2d3e4b57a59976719298c808_1_0_7 in scene +Goal: place black and yellow handheld radio next to gray sculpture with textured indentations +[2026-05-27 03:23:40,576] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:41:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 3500 episode 0 object objahandheldradio_5e2b1233523f47adbe3e9e894568f0d2_1_0_4 completed with success=False +[05/27 03:41:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3500: 1 episodes +[05/27 03:41:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:41:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:41:28 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3500 +[05/27 03:41:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3500 in 2.87s (batch: 2.76s, save: 0.11s) +[05/27 03:41:28 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3500 +[05/27 03:41:28 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3500: 0/1 successful episodes +[05/27 03:41:28 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3577 (index 34/114) +[05/27 03:41:28 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3577 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 03:41:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/64 [00:00 does not support tracking retries. +Goal: place compact black rail mount with slots next to simple light brown ceramic bowl +[2026-05-27 03:42:49,752] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:01:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 3577 episode 0 object objarailmount_221ab95129a74da18fbab9b1e15d77f3_1_0_4 completed with success=False +[05/27 04:01:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3577: 1 episodes +[05/27 04:01:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:01:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:01:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3577 +[05/27 04:01:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3577 in 2.82s (batch: 2.73s, save: 0.09s) +[05/27 04:01:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3577 +[05/27 04:01:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3577: 0/1 successful episodes +[05/27 04:01:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3677 (index 35/114) +[05/27 04:01:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3677 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 04:01:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +Goal: place red pot next to lettuce +[2026-05-27 04:03:03,501] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:13:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 3677 episode 0 object objacookingpot_491cd880ee9949758492015247cd04da_1_0_6 completed with success=False +[05/27 04:13:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3677: 1 episodes +[05/27 04:13:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:13:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:13:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3677 +[05/27 04:13:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3677 in 2.25s (batch: 2.16s, save: 0.09s) +[05/27 04:13:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3677 +[05/27 04:13:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3677: 0/1 successful episodes +[05/27 04:13:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3749 (index 36/114) +[05/27 04:13:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3749 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 04:13:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +[05/27 04:13:43 Worker 0 WARNING object_manager.py:1238] Could not find object objacleaningsponge_f173c4e92f854efe86fa939466e08e4b_1_0_5 in scene +Goal: place decorativescript next to vegetable +[2026-05-27 04:14:46,990] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:15:23 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:30:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 3749 episode 0 object objadecorativescript_698f49c7bedb4fc3a5777a9f4edcc5bc_2_0_2 completed with success=False +[05/27 04:30:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3749: 1 episodes +[05/27 04:30:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:30:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:30:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3749 +[05/27 04:30:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3749 in 2.23s (batch: 2.13s, save: 0.10s) +[05/27 04:30:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3749 +[05/27 04:30:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3749: 0/1 successful episodes +[05/27 04:30:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3816 (index 37/114) +[05/27 04:30:19 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 3816 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 04:30:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +Goal: place dark wrench tool with hexagonal opening next to smooth brown egg +[2026-05-27 04:31:28,556] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:32:08 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:33:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 3816 episode 0 object objawrench_430ce447c62b42229f6b229f9f21890b_1_0_8 completed with success=False +[05/27 04:33:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +Goal: place green and black pliers next to small grassy patch with dirt +[2026-05-27 04:34:52,477] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:35:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:50:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 3816 episode 1 object objapliers_5a293649f3f64061accc9afdb4008c25_1_0_4 completed with success=False +[05/27 04:50:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3816: 2 episodes +[05/27 04:50:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:50:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:50:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:50:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:50:37 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3816 +[05/27 04:50:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3816 in 4.56s (batch: 4.38s, save: 0.18s) +[05/27 04:50:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3816 +[05/27 04:50:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3816: 0/2 successful episodes +[05/27 04:50:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3871 (index 38/114) +[05/27 04:50:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3871 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 04:50:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +[05/27 04:50:42 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativecandle_0c791ace8deb4316bd377aa7fb553517_1_0_5 in scene +[05/27 04:50:42 Worker 0 WARNING object_manager.py:1238] Could not find object objacollar_5f329a75ab1a4890868ba37061ca3396_1_0_5 in scene +Goal: place round soft fuzzy peach next to red toy rocket with fins +[2026-05-27 04:51:45,684] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:03:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 3871 episode 0 object objafruit_bb7f4908308d4ba5bce1b07d4d730904_1_0_8 completed with success=False +[05/27 05:03:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3871: 1 episodes +[05/27 05:03:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:03:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:03:45 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3871 +[05/27 05:03:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3871 in 2.33s (batch: 2.24s, save: 0.09s) +[05/27 05:03:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3871 +[05/27 05:03:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3871: 0/1 successful episodes +[05/27 05:03:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3993 (index 39/114) +[05/27 05:03:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3993 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 05:03:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[05/27 05:03:50 Worker 0 WARNING object_manager.py:1238] Could not find object objagardenfork_ce1900ce820a4a419d376d1532e85bcf_1_0_4 in scene +[05/27 05:03:50 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturebuilding_1954e7fb9f324e26973b1d34f5358040_1_0_7 in scene +[05/27 05:03:50 Worker 0 WARNING object_manager.py:1238] Could not find object objalighter_a2db21b57424449f9a2d1aa08e5b0c90_1_0_7 in scene +Goal: place green alien bust next to brown bread +[2026-05-27 05:04:54,178] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:05:34 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 05:18:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 3993 episode 0 object objaalienbust_1f2fa3f8b4ed4ffb8ad3b95d404b1a55_1_0_8 completed with success=False +[05/27 05:18:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3993: 1 episodes +[05/27 05:18:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:18:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:18:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3993 +[05/27 05:18:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3993 in 2.18s (batch: 2.09s, save: 0.09s) +[05/27 05:18:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3993 +[05/27 05:18:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3993: 0/1 successful episodes +[05/27 05:18:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4079 (index 40/114) +[05/27 05:18:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4079 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 05:18:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +Goal: place butterfly knife with colorful gradient blade next to bulbous shiny gold metallic vase +[2026-05-27 05:19:45,752] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:39:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 4079 episode 0 object objabutterflyknife_be05554b77de495ea5e92d3bcb7730fa_1_0_8 completed with success=False +[05/27 05:39:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4079: 1 episodes +[05/27 05:39:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:39:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:39:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4079 +[05/27 05:39:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4079 in 2.36s (batch: 2.27s, save: 0.10s) +[05/27 05:39:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4079 +[05/27 05:39:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4079: 0/1 successful episodes +[05/27 05:39:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4191 (index 41/114) +[05/27 05:39:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4191 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 05:39:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +Goal: place disposable coffee cup next to gray hand statue +[2026-05-27 05:40:38,330] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:41:14 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 05:50:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 4191 episode 0 object objadisposablecoffeecup_b74978f41afd40b4825b1d99478a4d68_3_0_6 completed with success=False +[05/27 05:50:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4191: 1 episodes +[05/27 05:50:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:50:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:50:47 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4191 +[05/27 05:50:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4191 in 2.85s (batch: 2.76s, save: 0.09s) +[05/27 05:50:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4191 +[05/27 05:50:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4191: 0/1 successful episodes +[05/27 05:50:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4255 (index 42/114) +[05/27 05:50:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4255 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 05:50:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +[05/27 05:50:52 Worker 0 WARNING object_manager.py:1238] Could not find object objatooth_4ec84bfdbbec4663b9a730ef943e0768_1_0_7 in scene +[05/27 05:50:52 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativecandle_0c791ace8deb4316bd377aa7fb553517_1_0_7 in scene +Goal: place slender greenish-gray pointed stone arrowhead next to colorful red bird +[2026-05-27 05:51:55,234] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:04:53 Worker 0 INFO pipeline.py:1114] Worker 0 house 4255 episode 0 object objastonetool_98fcfd7e7d24420c832a048faa60dc8a_1_0_9 completed with success=False +[05/27 06:04:56 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4255: 1 episodes +[05/27 06:04:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:04:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:04:58 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4255 +[05/27 06:04:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4255 in 2.24s (batch: 2.15s, save: 0.09s) +[05/27 06:04:59 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4255 +[05/27 06:04:59 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4255: 0/1 successful episodes +[05/27 06:04:59 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4298 (index 43/114) +[05/27 06:04:59 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4298 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 06:04:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +Goal: place small white bird next to green hardcover book titled the effective engineer +[2026-05-27 06:06:14,402] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:06:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 06:22:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 4298 episode 0 object objadecorativebird_0aac489fda0d4e91845b6623e64db21c_1_0_6 completed with success=False +[05/27 06:22:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4298: 1 episodes +[05/27 06:22:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:22:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:22:27 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4298 +[05/27 06:22:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4298 in 2.81s (batch: 2.72s, save: 0.09s) +[05/27 06:22:28 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4298 +[05/27 06:22:28 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4298: 0/1 successful episodes +[05/27 06:22:28 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4345 (index 44/114) +[05/27 06:22:28 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4345 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 06:22:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +Goal: place yellow card featuring snoopy flowers next to wooden roller with spikes and carving +[2026-05-27 06:23:42,986] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:24:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 06:38:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 4345 episode 0 object objagreetingcard_8870ef6ecfa9458b9cb383033f8f699f_1_0_4 completed with success=False +[05/27 06:38:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4345: 1 episodes +[05/27 06:38:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:38:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:38:24 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4345 +[05/27 06:38:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4345 in 3.03s (batch: 2.93s, save: 0.10s) +[05/27 06:38:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4345 +[05/27 06:38:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4345: 0/1 successful episodes +[05/27 06:38:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4439 (index 45/114) +[05/27 06:38:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4439 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 06:38:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +Goal: place rustic wooden lemon squeezer next to amber cylindrical prescription pill bottle +[2026-05-27 06:39:33,531] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:49:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 4439 episode 0 object objalemonsqueezer_5679cddc744c4f39b731890788405de6_1_0_6 completed with success=False +[05/27 06:49:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4439: 1 episodes +[05/27 06:49:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:50:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:50:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4439 +[05/27 06:50:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4439 in 2.96s (batch: 2.87s, save: 0.09s) +[05/27 06:50:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4439 +[05/27 06:50:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4439: 0/1 successful episodes +[05/27 06:50:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4514 (index 46/114) +[05/27 06:50:03 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4514 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 06:50:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/27 [00:00 does not support tracking retries. +Goal: place cutter next to simple light brown ceramic bowl +[2026-05-27 06:51:16,605] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:51:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 07:02:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 4514 episode 0 object objaknife_c043b12ebc1b41c8813036247e6b2f54_1_0_6 completed with success=False +[05/27 07:02:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4514: 1 episodes +[05/27 07:02:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:02:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:02:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4514 +[05/27 07:02:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4514 in 2.30s (batch: 2.20s, save: 0.10s) +[05/27 07:02:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4514 +[05/27 07:02:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4514: 0/1 successful episodes +[05/27 07:02:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4636 (index 47/114) +[05/27 07:02:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4636 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 07:02:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/53 [00:00 does not support tracking retries. +[05/27 07:02:28 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +Goal: place teal cordless angle grinder tool next to black wall hook with red accent +[2026-05-27 07:03:30,960] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:18:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 4636 episode 0 object objaanglegrinder_a49df09b961d426d8ae7fbba02feb228_1_0_3 completed with success=False +[05/27 07:18:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4636: 1 episodes +[05/27 07:18:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:18:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:18:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4636 +[05/27 07:18:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4636 in 2.20s (batch: 2.11s, save: 0.09s) +[05/27 07:18:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4636 +[05/27 07:18:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4636: 0/1 successful episodes +[05/27 07:18:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4685 (index 48/114) +[05/27 07:18:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4685 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 07:18:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/13 [00:00 does not support tracking retries. +Goal: place light rectangular amulet with seated figure next to lifelike dark stag beetle +[2026-05-27 07:19:37,440] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:20:10 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 07:26:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 4685 episode 0 object objaamulet_ce4443cc64e94facb38150f2b6687597_1_0_2 completed with success=False +[05/27 07:26:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4685: 1 episodes +[05/27 07:26:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:26:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:26:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4685 +[05/27 07:26:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4685 in 2.26s (batch: 2.17s, save: 0.09s) +[05/27 07:26:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4685 +[05/27 07:26:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4685: 0/1 successful episodes +[05/27 07:26:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4696 (index 49/114) +[05/27 07:26:30 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4696 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 07:26:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/10 [00:00 does not support tracking retries. +Goal: place garden truck next to blue bottle +[2026-05-27 07:27:34,960] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:28:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 07:33:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 4696 episode 0 object objacucumber_2f0743a1d27345269d1444a8becfce59_1_0_2 completed with success=False +[05/27 07:33:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/10 [00:00 does not support tracking retries. +Goal: place compact camouflage tactical pouch with buckle next to small shiny gold dog statue +[2026-05-27 07:34:39,505] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:35:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 07:40:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 4696 episode 1 object objatacticalpouch_4d76d1d1fc934a0cbccddd28103b2657_1_0_2 completed with success=False +[05/27 07:40:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4696: 2 episodes +[05/27 07:40:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:40:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:40:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:40:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:40:55 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4696 +[05/27 07:40:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4696 in 4.39s (batch: 4.23s, save: 0.17s) +[05/27 07:40:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4696 +[05/27 07:40:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4696: 0/2 successful episodes +[05/27 07:40:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4731 (index 50/114) +[05/27 07:40:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4731 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 07:40:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +Goal: place yellow candle with white wax top next to black rugged tablet with touchscreen buttons +[2026-05-27 07:42:09,951] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:42:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 07:56:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 4731 episode 0 object objadecorativecandle_7aaf40cda216463d956737baa002efa7_1_0_4 completed with success=False +[05/27 07:56:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4731: 1 episodes +[05/27 07:56:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:56:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:56:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4731 +[05/27 07:56:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4731 in 2.89s (batch: 2.80s, save: 0.09s) +[05/27 07:56:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4731 +[05/27 07:56:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4731: 0/1 successful episodes +[05/27 07:56:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4821 (index 51/114) +[05/27 07:56:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4821 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 07:56:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +[05/27 07:56:40 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeemblem_944ac46de4714840942d4a907eef5ef6_1_0_7 in scene +[05/27 07:56:40 Worker 0 WARNING object_manager.py:1238] Could not find object candle_fe12fa900f50b1f2dcab659cebcf492b_1_0_7 in scene +Goal: place slender smooth beige animal horn next to soapdispenser +[2026-05-27 07:57:46,522] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:58:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 07:59:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 4821 episode 0 object objadecorativehorn_20097ccba5444c968beff4890ecd2402_1_0_8 completed with success=True +[05/27 07:59:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4821: 1 episodes +[05/27 07:59:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 274 timesteps +[05/27 07:59:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:59:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4821 +[05/27 07:59:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4821 in 2.11s (batch: 2.05s, save: 0.06s) +[05/27 07:59:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4821 +[05/27 07:59:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4821: 1/1 successful episodes +[05/27 07:59:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4917 (index 52/114) +[05/27 07:59:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4917 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 07:59:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +Goal: place whimsical chicken figure in costume next to small green house plant +[2026-05-27 08:00:34,137] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:15:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 4917 episode 0 object objacostumefigure_0bd37fcf74214be0b2e0b8d1b4105aea_1_0_9 completed with success=False +[05/27 08:15:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4917: 1 episodes +[05/27 08:15:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:15:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:15:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4917 +[05/27 08:15:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4917 in 2.20s (batch: 2.11s, save: 0.09s) +[05/27 08:15:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4917 +[05/27 08:15:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4917: 0/1 successful episodes +[05/27 08:15:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4999 (index 53/114) +[05/27 08:15:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4999 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 08:15:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/27 08:15:43 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativepanel_a17676f45b3d483c9dc1910a2eb17269_1_0_8 in scene +[05/27 08:15:43 Worker 0 WARNING object_manager.py:1238] Could not find object objadressshoe_08158fa3333a4b288bd2746a6ba6f9e5_1_0_9 in scene +[05/27 08:15:43 Worker 0 WARNING object_manager.py:1238] Could not find object objamarbleslab_7d540d7b25af4e41a58eaeb5037f88a9_1_0_9 in scene +Goal: place handbell with wooden handle and brass next to adjustable metal wrench with handle +[2026-05-27 08:16:45,309] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:34:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 4999 episode 0 object objahandbell_2ad2c9631a83455c9ec767a404d018df_1_0_3 completed with success=False +[05/27 08:34:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4999: 1 episodes +[05/27 08:34:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:34:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:34:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4999 +[05/27 08:34:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4999 in 2.86s (batch: 2.77s, save: 0.09s) +[05/27 08:34:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4999 +[05/27 08:34:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4999: 0/1 successful episodes +[05/27 08:34:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5103 (index 54/114) +[05/27 08:34:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5103 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 08:34:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +Goal: place rustic wooden mug with handle next to red envelope with triangular gray flap +[2026-05-27 08:36:03,665] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:50:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 5103 episode 0 object objamug_8529afb010814c188970381c3596afef_1_0_8 completed with success=False +[05/27 08:50:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5103: 1 episodes +[05/27 08:50:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:50:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:50:08 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5103 +[05/27 08:50:08 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5103 in 2.83s (batch: 2.74s, save: 0.09s) +[05/27 08:50:08 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5103 +[05/27 08:50:08 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5103: 0/1 successful episodes +[05/27 08:50:08 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5181 (index 55/114) +[05/27 08:50:08 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5181 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 08:50:08 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +Goal: place red strawberry with green leaves next to yellow white package with curry +[2026-05-27 08:51:23,826] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:51:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 09:00:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 5181 episode 0 object objadecorativefruit_963a56c7201143eba6bbcdf2ad60c1c3_1_0_6 completed with success=False +[05/27 09:00:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5181: 1 episodes +[05/27 09:00:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:00:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:00:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5181 +[05/27 09:00:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5181 in 2.77s (batch: 2.68s, save: 0.09s) +[05/27 09:00:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5181 +[05/27 09:00:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5181: 0/1 successful episodes +[05/27 09:00:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5248 (index 56/114) +[05/27 09:00:19 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5248 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 09:00:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +[05/27 09:00:32 Worker 0 WARNING object_manager.py:1238] Could not find object objasteeringwheel_0b77970f7f984ce8ac5c0a03ed1fa1a8_1_0_5 in scene +[05/27 09:00:32 Worker 0 WARNING object_manager.py:1238] Could not find object objamosaicfragment_780cc0fe43954935b548b72e5c9e129d_1_0_5 in scene +Goal: place classic razor with wooden handle next to glossy green arrowhead shaped leaf +[2026-05-27 09:01:34,677] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:02:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 09:16:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 5248 episode 0 object objastraightrazor_2d90a466a23f497f819a01e888edcb0a_2_0_8 completed with success=False +[05/27 09:16:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5248: 1 episodes +[05/27 09:16:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:16:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:16:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5248 +[05/27 09:16:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5248 in 2.24s (batch: 2.15s, save: 0.09s) +[05/27 09:16:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5248 +[05/27 09:16:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5248: 0/1 successful episodes +[05/27 09:16:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5418 (index 57/114) +[05/27 09:16:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5418 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 09:16:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/10 [00:00 does not support tracking retries. +Goal: place mosaic fragment next to white toilet paper roll +[2026-05-27 09:17:37,030] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:19:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 5418 episode 0 object objamosaicfragment_780cc0fe43954935b548b72e5c9e129d_1_0_2 completed with success=True +[05/27 09:19:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5418: 1 episodes +[05/27 09:19:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 114 timesteps +[05/27 09:19:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:19:25 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5418 +[05/27 09:19:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5418 in 2.61s (batch: 2.57s, save: 0.04s) +[05/27 09:19:25 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5418 +[05/27 09:19:25 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5418: 1/1 successful episodes +[05/27 09:19:25 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5507 (index 58/114) +[05/27 09:19:25 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5507 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 09:19:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/10 [00:00 does not support tracking retries. +Goal: place gold headphones with red padding next to green smartphone with black touchscreen +[2026-05-27 09:20:40,040] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:23:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 5507 episode 0 object objaheadphones_298b981b427947188a1b361bf65a2c98_1_0_2 completed with success=True +[05/27 09:23:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5507: 1 episodes +[05/27 09:23:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 170 timesteps +[05/27 09:23:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:23:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5507 +[05/27 09:23:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5507 in 2.06s (batch: 2.01s, save: 0.05s) +[05/27 09:23:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5507 +[05/27 09:23:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5507: 1/1 successful episodes +[05/27 09:23:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5578 (index 59/114) +[05/27 09:23:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5578 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 09:23:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +Goal: place textured red pomegranate next to fresh green lettuce +[2026-05-27 09:24:34,809] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:33:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 5578 episode 0 object objapomegranate_af8ba5fe1b2744c1a70092eb44932a16_1_0_6 completed with success=False +[05/27 09:33:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5578: 1 episodes +[05/27 09:33:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:33:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:33:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5578 +[05/27 09:33:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5578 in 2.89s (batch: 2.80s, save: 0.09s) +[05/27 09:33:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5578 +[05/27 09:33:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5578: 0/1 successful episodes +[05/27 09:33:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5632 (index 60/114) +[05/27 09:33:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5632 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 09:33:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +Goal: place white saturn v rocket with markings next to orange plaid pillow cushion +[2026-05-27 09:35:05,037] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:35:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 09:39:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 5632 episode 0 object objamodelrocket_782d80395e25463a815a92e883c86c02_1_0_9 completed with success=False +[05/27 09:39:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5632: 1 episodes +[05/27 09:39:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:39:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:39:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5632 +[05/27 09:39:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5632 in 2.86s (batch: 2.77s, save: 0.09s) +[05/27 09:39:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5632 +[05/27 09:39:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5632: 0/1 successful episodes +[05/27 09:39:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5708 (index 61/114) +[05/27 09:39:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5708 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 09:39:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/53 [00:00 does not support tracking retries. +[05/27 09:40:07 Worker 0 WARNING object_manager.py:1238] Could not find object objacoil_c4fcd63753e740aa9efac5edfe7a7506_1_0_9 in scene +[05/27 09:40:07 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeaccessory_e47911ac361a45c3b6c7f2f1d9071876_1_0_9 in scene +Goal: place amber cylindrical prescription pill bottle next to foodstuff +[2026-05-27 09:41:11,603] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:00:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 5708 episode 0 object objapillbottle_7339a87dac884f1e8aeed3bf80dc0a5f_1_0_2 completed with success=False +[05/27 10:00:46 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5708: 1 episodes +[05/27 10:00:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:00:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:00:48 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5708 +[05/27 10:00:48 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5708 in 2.30s (batch: 2.21s, save: 0.09s) +[05/27 10:00:49 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5708 +[05/27 10:00:49 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5708: 0/1 successful episodes +[05/27 10:00:49 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5836 (index 62/114) +[05/27 10:00:49 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5836 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 10:00:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +[05/27 10:00:58 Worker 0 WARNING object_manager.py:1238] Could not find object objaheadband_d49545a5b65a40bcade1370176d8950a_1_0_5 in scene +[05/27 10:00:58 Worker 0 WARNING object_manager.py:1238] Could not find object objadentures_4fc005a4bb9f4ed49ad3b5255e87e720_1_0_5 in scene +Goal: place dark metal hinge with pivot next to dark muscular statue standing dynamically +[2026-05-27 10:02:02,332] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:02:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 10:13:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 5836 episode 0 object objahinge_d443380245cb4898bc96b341d37bcd43_1_0_7 completed with success=False +[05/27 10:13:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5836: 1 episodes +[05/27 10:13:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:13:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:13:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5836 +[05/27 10:13:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5836 in 2.26s (batch: 2.16s, save: 0.09s) +[05/27 10:13:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5836 +[05/27 10:13:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5836: 0/1 successful episodes +[05/27 10:13:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5907 (index 63/114) +[05/27 10:13:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5907 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 10:13:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 does not support tracking retries. +[05/27 10:13:40 Worker 0 WARNING object_manager.py:1238] Could not find object objaspraycan_f761c777f54e414dba0b54dbab6453c7_1_0_5 in scene +Goal: place serene stone statue with patterned robe next to silver bullet with red band tip +[2026-05-27 10:14:43,876] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:15:16 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 10:30:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 5907 episode 0 object objastatue_a8e9e70f3ca14aa7a21b3e9ac2eacbd9_1_0_4 completed with success=False +[05/27 10:30:58 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5907: 1 episodes +[05/27 10:30:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:31:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:31:00 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5907 +[05/27 10:31:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5907 in 2.26s (batch: 2.14s, save: 0.12s) +[05/27 10:31:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5907 +[05/27 10:31:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5907: 0/1 successful episodes +[05/27 10:31:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5980 (index 64/114) +[05/27 10:31:00 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5980 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 10:31:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +[05/27 10:31:23 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturelighthouse_bde6dcab0a89413eba4422da59f19cef_1_0_5 in scene +Goal: place hand axe next to slim pink cellphone with buttons +[2026-05-27 10:32:27,068] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:33:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 10:47:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 5980 episode 0 object objahandaxe_b0b87362f235438dbd703daa13551696_1_0_2 completed with success=False +[05/27 10:47:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5980: 1 episodes +[05/27 10:47:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:47:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:47:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5980 +[05/27 10:47:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5980 in 2.98s (batch: 2.89s, save: 0.09s) +[05/27 10:47:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5980 +[05/27 10:47:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5980: 0/1 successful episodes +[05/27 10:47:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6083 (index 65/114) +[05/27 10:47:30 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6083 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 10:47:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +Goal: place gray stone next to detailed red and white race car +[2026-05-27 10:48:49,956] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:49:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 11:00:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 6083 episode 0 object objastoneartifact_fc6cadc870a841cc8edb35bc21f9a004_1_0_7 completed with success=False +[05/27 11:00:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6083: 1 episodes +[05/27 11:00:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:00:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:00:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6083 +[05/27 11:00:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6083 in 2.93s (batch: 2.83s, save: 0.09s) +[05/27 11:00:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6083 +[05/27 11:00:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6083: 0/1 successful episodes +[05/27 11:00:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6153 (index 66/114) +[05/27 11:00:30 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6153 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 11:00:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/6 [00:00 does not support tracking retries. +Goal: place soapdispenser next to spray +[2026-05-27 11:01:41,743] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:02:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 11:07:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 6153 episode 0 object soapdispenser_4d425f15f8385d9b5381f2b606372c15_1_0_2 completed with success=False +[05/27 11:07:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6153: 1 episodes +[05/27 11:07:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:07:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:07:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6153 +[05/27 11:07:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6153 in 2.99s (batch: 2.90s, save: 0.09s) +[05/27 11:07:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6153 +[05/27 11:07:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6153: 0/1 successful episodes +[05/27 11:07:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6240 (index 67/114) +[05/27 11:07:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6240 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 11:07:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +[05/27 11:08:14 Worker 0 WARNING object_manager.py:1238] Could not find object objasportsshoe_6b4506025d2e4c38bf943c377e53a82b_1_0_3 in scene +[05/27 11:08:14 Worker 0 WARNING object_manager.py:1238] Could not find object objapocketwatch_1dbb7462a3e04e918023f6fec7743ee2_1_0_3 in scene +Goal: place rusty spray paint can with blue next to blue bomb with white skull emblem +[2026-05-27 11:09:17,466] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:22:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 6240 episode 0 object objaspraypaintcan_9e725e49c0074fc0a1a08cacc85ee898_1_0_6 completed with success=False +[05/27 11:22:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6240: 1 episodes +[05/27 11:22:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:22:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:22:20 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6240 +[05/27 11:22:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6240 in 2.82s (batch: 2.73s, save: 0.09s) +[05/27 11:22:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6240 +[05/27 11:22:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6240: 0/1 successful episodes +[05/27 11:22:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6287 (index 68/114) +[05/27 11:22:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6287 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 11:22:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +[05/27 11:22:29 Worker 0 WARNING object_manager.py:1238] Could not find object objabenchvise_2db685641caa42d9bc57d38edeff0264_1_0_7 in scene +[05/27 11:22:29 Worker 0 WARNING object_manager.py:1238] Could not find object plate_b137b580936425a0757a2df506ec58fb_1_0_7 in scene +Goal: place black hat yellow plume next to green lenses on night vision goggles +[2026-05-27 11:23:32,218] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:24:04 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 11:34:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 6287 episode 0 object objamarchingbandhat_04ca4cc9ff7c4546a438d55c727fc557_1_0_7 completed with success=False +[05/27 11:34:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6287: 1 episodes +[05/27 11:34:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:34:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:34:25 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6287 +[05/27 11:34:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6287 in 2.83s (batch: 2.72s, save: 0.10s) +[05/27 11:34:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6287 +[05/27 11:34:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6287: 0/1 successful episodes +[05/27 11:34:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6348 (index 69/114) +[05/27 11:34:26 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6348 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 11:34:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +[05/27 11:34:48 Worker 0 WARNING object_manager.py:1238] Could not find object objatoy_7cdbd80a08da45d2af76ae9f0f00f280_1_0_4 in scene +[05/27 11:34:48 Worker 0 WARNING object_manager.py:1238] Could not find object objamoth_c776c4a1d0a447388a8808dab3817af9_1_0_4 in scene +Goal: place brown moth next to rectangular dark teal box +[2026-05-27 11:35:50,164] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:50:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 6348 episode 0 object objamoth_c4c8eb2f231447009230db56835f76a7_1_0_4 completed with success=False +[05/27 11:50:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6348: 1 episodes +[05/27 11:50:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:50:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:50:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6348 +[05/27 11:50:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6348 in 2.28s (batch: 2.19s, save: 0.09s) +[05/27 11:50:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6348 +[05/27 11:50:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6348: 0/1 successful episodes +[05/27 11:50:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6403 (index 70/114) +[05/27 11:50:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6403 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 11:50:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +Goal: place vintage red wall-mounted rotary telephone next to light blue labeled cleaning bottle +[2026-05-27 11:51:29,167] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:00:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 6403 episode 0 object objarotarytelephone_0beb78c11c0f4537a27c53f8e46ddb86_1_0_2 completed with success=False +[05/27 12:00:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6403: 1 episodes +[05/27 12:00:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:00:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:00:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6403 +[05/27 12:00:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6403 in 2.82s (batch: 2.73s, save: 0.09s) +[05/27 12:00:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6403 +[05/27 12:00:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6403: 0/1 successful episodes +[05/27 12:00:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6515 (index 71/114) +[05/27 12:00:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6515 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 12:00:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +[05/27 12:00:39 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativepanel_a17676f45b3d483c9dc1910a2eb17269_1_0_2 in scene +Goal: place red torii gate with black next to tall black top hat +[2026-05-27 12:01:44,703] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:02:16 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 12:04:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 6515 episode 0 object objaminiaturemodel_5ab1392182d345b49b3391f7776339e9_1_0_5 completed with success=True +[05/27 12:04:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6515: 1 episodes +[05/27 12:04:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 86 timesteps +[05/27 12:04:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:04:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6515 +[05/27 12:04:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6515 in 2.58s (batch: 2.55s, save: 0.03s) +[05/27 12:04:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6515 +[05/27 12:04:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6515: 1/1 successful episodes +[05/27 12:04:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6616 (index 72/114) +[05/27 12:04:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6616 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 12:04:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/34 [00:00 does not support tracking retries. +[05/27 12:05:00 Worker 0 WARNING object_manager.py:1238] Could not find object objaphonecase_99fa689a1f66458ba5025088aebd974e_1_0_8 in scene +[05/27 12:05:00 Worker 0 WARNING object_manager.py:1238] Could not find object cup_10bb4374affb6510642adcfd03f48701_1_0_8 in scene +Goal: place round metallic lid with handle next to small red potato with texture +[2026-05-27 12:06:03,123] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:06:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 12:19:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 6616 episode 0 object objalid_dfddb32ab2c64ee2a96f905feb9d467f_1_0_8 completed with success=False +[05/27 12:19:46 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6616: 1 episodes +[05/27 12:19:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:19:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:19:49 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6616 +[05/27 12:19:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6616 in 2.89s (batch: 2.80s, save: 0.09s) +[05/27 12:19:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6616 +[05/27 12:19:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6616: 0/1 successful episodes +[05/27 12:19:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6733 (index 73/114) +[05/27 12:19:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6733 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 12:19:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +Goal: place wooden pestle with jagged top next to white ceramic vase with ridges +[2026-05-27 12:21:06,393] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:21:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 12:35:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 6733 episode 0 object objapestle_668fa2b7443e423f8b0d252d82a3d100_1_0_8 completed with success=False +[05/27 12:35:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6733: 1 episodes +[05/27 12:35:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:35:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:35:57 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6733 +[05/27 12:35:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6733 in 2.92s (batch: 2.83s, save: 0.09s) +[05/27 12:35:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6733 +[05/27 12:35:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6733: 0/1 successful episodes +[05/27 12:35:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6787 (index 74/114) +[05/27 12:35:57 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 6787 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 12:35:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +Goal: place glossy dark angular architectural cornice next to plesiosaurus +[2026-05-27 12:37:18,916] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:50:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 6787 episode 0 object objaarchitecturalmolding_f13cbb13a3ac48f4bd7e1dd9187a55d6_1_0_8 completed with success=False +[05/27 12:50:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +Goal: place black vr headset with antennas next to shiny metallic key with notches +[2026-05-27 12:51:33,133] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:52:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:04:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 6787 episode 1 object objavirtualrealityheadset_3cd83343e5c6450db20895a88fbd4de2_1_0_4 completed with success=False +[05/27 13:04:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6787: 2 episodes +[05/27 13:04:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:04:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:04:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:04:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:04:35 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6787 +[05/27 13:04:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6787 in 5.69s (batch: 5.52s, save: 0.17s) +[05/27 13:04:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6787 +[05/27 13:04:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6787: 0/2 successful episodes +[05/27 13:04:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6819 (index 75/114) +[05/27 13:04:35 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6819 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 13:04:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +Goal: place robust metal door lock mechanism next to bulbous shiny gold vase +[2026-05-27 13:05:41,984] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:06:13 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:14:53 Worker 0 INFO pipeline.py:1114] Worker 0 house 6819 episode 0 object objadoorlock_3d56a40e1bae492b89072f71651d2d63_1_0_7 completed with success=False +[05/27 13:14:56 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6819: 1 episodes +[05/27 13:14:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:14:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:14:58 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6819 +[05/27 13:14:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6819 in 2.30s (batch: 2.21s, save: 0.09s) +[05/27 13:14:59 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6819 +[05/27 13:14:59 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6819: 0/1 successful episodes +[05/27 13:14:59 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6930 (index 76/114) +[05/27 13:14:59 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6930 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 13:14:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[05/27 13:15:20 Worker 0 WARNING object_manager.py:1238] Could not find object objatapedispenser_fdf53823d30f4fed9a5423d6b6cbfad1_1_0_5 in scene +Goal: place nightvisiongoggles next to glossy blue vase +[2026-05-27 13:16:23,472] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:16:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:31:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 6930 episode 0 object objanightvisiongoggles_396b90fb83cb4f06b96b1f9a120af75b_1_0_4 completed with success=False +[05/27 13:31:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6930: 1 episodes +[05/27 13:31:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:31:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:31:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6930 +[05/27 13:31:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6930 in 2.89s (batch: 2.80s, save: 0.09s) +[05/27 13:31:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6930 +[05/27 13:31:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6930: 0/1 successful episodes +[05/27 13:31:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6991 (index 77/114) +[05/27 13:31:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6991 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 13:31:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/13 [00:00 does not support tracking retries. +Goal: place gray stone arrowhead with pink next to white rabbit pink eyes +[2026-05-27 13:32:59,593] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:33:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:41:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 6991 episode 0 object objaarrowhead_a3ba93523eed41f69c1e55e55ebb7789_1_0_3 completed with success=False +[05/27 13:41:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6991: 1 episodes +[05/27 13:41:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:41:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:41:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6991 +[05/27 13:41:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6991 in 2.24s (batch: 2.15s, save: 0.09s) +[05/27 13:41:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6991 +[05/27 13:41:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6991: 0/1 successful episodes +[05/27 13:41:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7043 (index 78/114) +[05/27 13:41:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7043 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 13:41:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +Goal: place eye model next to medium red apple +[2026-05-27 13:42:31,943] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:43:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:54:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 7043 episode 0 object objaeyemodel_bba987e54f5d4724b9ffb799c8d98895_1_0_6 completed with success=False +[05/27 13:54:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7043: 1 episodes +[05/27 13:54:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:54:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:54:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7043 +[05/27 13:54:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7043 in 2.85s (batch: 2.76s, save: 0.09s) +[05/27 13:54:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7043 +[05/27 13:54:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7043: 0/1 successful episodes +[05/27 13:54:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7126 (index 79/114) +[05/27 13:54:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7126 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 13:54:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[05/27 13:55:18 Worker 0 WARNING object_manager.py:1238] Could not find object objapocketwatch_dbb40c6f9226401f88230d46a12fa50f_1_0_5 in scene +[05/27 13:55:18 Worker 0 WARNING object_manager.py:1238] Could not find object fabric_fd3d318bb4ba7328dec20b40c6504241_1_0_5 in scene +[05/27 13:55:18 Worker 0 WARNING object_manager.py:1238] Could not find object objaspraycan_c6c66c606c2f44d1b6c263426c1953ff_1_0_7 in scene +Goal: place yellow truck with gray container trailer next to neuron model +[2026-05-27 13:56:24,559] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:10:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 7126 episode 0 object objatoytruck_2819f02722574b59b5efc5c3e62f3b2c_1_0_9 completed with success=False +[05/27 14:10:50 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7126: 1 episodes +[05/27 14:10:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:10:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:10:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7126 +[05/27 14:10:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7126 in 3.00s (batch: 2.90s, save: 0.09s) +[05/27 14:10:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7126 +[05/27 14:10:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7126: 0/1 successful episodes +[05/27 14:10:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7192 (index 80/114) +[05/27 14:10:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7192 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 14:10:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/6 [00:00 does not support tracking retries. +Goal: place blue birthday card with fox and rabbit next to furniture +[2026-05-27 14:11:59,877] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:12:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 14:17:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 7192 episode 0 object objagreetingcard_5c7029b2edd248cdafcfd33c93ff1728_1_0_2 completed with success=False +[05/27 14:17:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7192: 1 episodes +[05/27 14:17:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:17:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:17:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7192 +[05/27 14:17:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7192 in 2.90s (batch: 2.81s, save: 0.09s) +[05/27 14:17:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7192 +[05/27 14:17:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7192: 0/1 successful episodes +[05/27 14:17:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7319 (index 81/114) +[05/27 14:17:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7319 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 14:17:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +Goal: place yellow black wasp next to dark vintage folding camera +[2026-05-27 14:18:52,035] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:19:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 14:31:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 7319 episode 0 object objainsect_4c74d77df5ee41948218f8a620ec1228_1_0_8 completed with success=False +[05/27 14:31:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7319: 1 episodes +[05/27 14:31:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:31:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:31:52 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7319 +[05/27 14:31:52 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7319 in 2.90s (batch: 2.81s, save: 0.09s) +[05/27 14:31:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7319 +[05/27 14:31:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7319: 0/1 successful episodes +[05/27 14:31:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7356 (index 82/114) +[05/27 14:31:53 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7356 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 14:31:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +Goal: place circular stone disc with hole next to irregular brown rock with colorful minerals +[2026-05-27 14:33:02,220] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:33:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 14:42:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 7356 episode 0 object objastonedisc_bb31ba58de6e457aa1251a63ede16de2_2_0_7 completed with success=False +[05/27 14:42:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7356: 1 episodes +[05/27 14:42:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:43:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:43:01 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7356 +[05/27 14:43:01 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7356 in 2.28s (batch: 2.19s, save: 0.09s) +[05/27 14:43:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7356 +[05/27 14:43:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7356: 0/1 successful episodes +[05/27 14:43:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7434 (index 83/114) +[05/27 14:43:02 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7434 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 14:43:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +Goal: place red scissors with metallic blades next to light brown soil with skeleton exposed +[2026-05-27 14:44:09,652] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:56:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 7434 episode 0 object objascissors_b0fdda96fcb94002b8be3077f5b95299_1_0_9 completed with success=False +[05/27 14:57:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7434: 1 episodes +[05/27 14:57:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:57:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:57:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7434 +[05/27 14:57:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7434 in 2.25s (batch: 2.16s, save: 0.09s) +[05/27 14:57:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7434 +[05/27 14:57:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7434: 0/1 successful episodes +[05/27 14:57:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7480 (index 84/114) +[05/27 14:57:02 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7480 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 14:57:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[05/27 14:57:27 Worker 0 WARNING object_manager.py:1238] Could not find object objainstantnoodlecup_293aeb3e7ac04edfa702ee174181f678_2_0_6 in scene +[05/27 14:57:27 Worker 0 WARNING object_manager.py:1238] Could not find object Irishpotato_223ec3bbee2c0187562d066582ec9143_1_0_6 in scene +Goal: place green manual can opener next to teal spiral wand +[2026-05-27 14:58:29,004] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:59:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:00:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 7480 episode 0 object objacanopener_8237129bfae244d7a62d706937f9f106_1_0_6 completed with success=False +[05/27 15:00:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7480: 1 episodes +[05/27 15:00:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:00:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:00:27 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7480 +[05/27 15:00:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7480 in 2.22s (batch: 2.13s, save: 0.09s) +[05/27 15:00:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7480 +[05/27 15:00:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7480: 0/1 successful episodes +[05/27 15:00:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7613 (index 85/114) +[05/27 15:00:27 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7613 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 15:00:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +Goal: place multicolored thick glasses next to glossy wooden tapered cup +[2026-05-27 15:01:53,885] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:02:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:11:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 7613 episode 0 object objaeyeglasses_64eab051bace4d45a878fdf664f8baac_1_0_6 completed with success=False +[05/27 15:11:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7613: 1 episodes +[05/27 15:11:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:11:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:11:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7613 +[05/27 15:11:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7613 in 2.82s (batch: 2.73s, save: 0.09s) +[05/27 15:11:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7613 +[05/27 15:11:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7613: 0/1 successful episodes +[05/27 15:11:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7705 (index 86/114) +[05/27 15:11:35 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7705 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 15:11:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +Goal: place orange delivery van with windows next to slim blue phone device +[2026-05-27 15:13:10,506] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:13:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:25:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 7705 episode 0 object objatoyvehicle_8132c0db249843ba932920251b0e3770_1_0_9 completed with success=False +[05/27 15:25:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7705: 1 episodes +[05/27 15:25:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:25:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:25:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7705 +[05/27 15:25:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7705 in 2.23s (batch: 2.14s, save: 0.09s) +[05/27 15:25:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7705 +[05/27 15:25:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7705: 0/1 successful episodes +[05/27 15:25:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7790 (index 87/114) +[05/27 15:25:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7790 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 15:25:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +Goal: place eggs next to tall copper cup with ridges +[2026-05-27 15:26:29,401] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:36:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 7790 episode 0 object egg_42ba097bdb4a3b55fe0b3765a6f91265_1_0_6 completed with success=False +[05/27 15:36:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7790: 1 episodes +[05/27 15:36:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:36:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:36:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7790 +[05/27 15:36:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7790 in 2.88s (batch: 2.73s, save: 0.15s) +[05/27 15:36:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7790 +[05/27 15:36:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7790: 0/1 successful episodes +[05/27 15:36:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7871 (index 88/114) +[05/27 15:36:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7871 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 15:36:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +Goal: place round brown ceramic dish with fish next to tall clear cup +[2026-05-27 15:37:58,115] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:38:30 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:47:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 7871 episode 0 object objaceramicdish_188a46ce27e04b76abc01ba942ccb69d_1_0_6 completed with success=False +[05/27 15:48:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7871: 1 episodes +[05/27 15:48:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:48:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:48:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7871 +[05/27 15:48:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7871 in 2.93s (batch: 2.84s, save: 0.09s) +[05/27 15:48:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7871 +[05/27 15:48:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7871: 0/1 successful episodes +[05/27 15:48:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7985 (index 89/114) +[05/27 15:48:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7985 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 15:48:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/24 [00:00 does not support tracking retries. +[05/27 15:48:12 Worker 0 WARNING object_manager.py:1238] Could not find object objanoveltycard_8e6f2b6b96e24c6096116eb97376abff_1_0_4 in scene +Goal: place silver sword with yellow hilt and gem next to cutlery +[2026-05-27 15:49:15,303] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:49:49 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:58:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 7985 episode 0 object objatoysword_a9890b83a9dc4b9799ab8799f00325cc_1_0_6 completed with success=False +[05/27 15:58:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7985: 1 episodes +[05/27 15:58:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:58:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:58:54 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7985 +[05/27 15:58:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7985 in 2.89s (batch: 2.80s, save: 0.09s) +[05/27 15:58:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7985 +[05/27 15:58:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7985: 0/1 successful episodes +[05/27 15:58:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8087 (index 90/114) +[05/27 15:58:55 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8087 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 15:58:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +Goal: place iced snowman gingerbread cookie next to small shiny gold dog statue +[2026-05-27 16:00:10,704] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:10:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 8087 episode 0 object objacookie_1929e4a4db3d4a619b7aec1bc1268c83_1_0_6 completed with success=False +[05/27 16:10:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8087: 1 episodes +[05/27 16:10:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:10:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:10:26 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8087 +[05/27 16:10:26 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8087 in 2.27s (batch: 2.18s, save: 0.09s) +[05/27 16:10:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8087 +[05/27 16:10:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8087: 0/1 successful episodes +[05/27 16:10:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8177 (index 91/114) +[05/27 16:10:27 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8177 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 16:10:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +Goal: place polished smooth golden circular ring next to brown wooden gavel +[2026-05-27 16:11:49,188] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:12:23 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 16:28:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 8177 episode 0 object objaring_c20681970f3f4e449aeec50291be17b1_1_0_3 completed with success=False +[05/27 16:28:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8177: 1 episodes +[05/27 16:28:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:28:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:28:54 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8177 +[05/27 16:28:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8177 in 2.84s (batch: 2.75s, save: 0.09s) +[05/27 16:28:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8177 +[05/27 16:28:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8177: 0/1 successful episodes +[05/27 16:28:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8235 (index 92/114) +[05/27 16:28:55 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8235 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 16:28:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +[05/27 16:29:21 Worker 0 WARNING object_manager.py:1238] Could not find object objaspraycan_e3227ecd37d44cd6be1331941d9cfa2f_1_0_5 in scene +[05/27 16:29:21 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativepetal_3609a49ccf984828a25d8b73c0ea672b_1_0_7 in scene +[05/27 16:29:21 Worker 0 WARNING object_manager.py:1238] Could not find object cellulartelephone_f65c71e22b7e94dd68f01167ec92b467_1_0_7 in scene +Goal: place gold opera glasses next to brown fedora hat with blue band +[2026-05-27 16:30:23,127] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:30:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 16:45:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 8235 episode 0 object objaoperaglasses_a6bf64a282b247cb9784f862e5da27e1_1_0_8 completed with success=False +[05/27 16:45:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8235: 1 episodes +[05/27 16:45:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:45:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:45:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8235 +[05/27 16:45:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8235 in 2.86s (batch: 2.77s, save: 0.09s) +[05/27 16:45:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8235 +[05/27 16:45:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8235: 0/1 successful episodes +[05/27 16:45:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8314 (index 93/114) +[05/27 16:45:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8314 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 16:45:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +Goal: place white connector with multiple yellow wires next to smooth translucent white bowl +[2026-05-27 16:46:55,790] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:47:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 16:59:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 8314 episode 0 object objaelectricalconnector_e55fbf1db52c4c99b680d800424b851b_1_0_4 completed with success=False +[05/27 17:00:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8314: 1 episodes +[05/27 17:00:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:00:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:00:03 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8314 +[05/27 17:00:03 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8314 in 3.00s (batch: 2.92s, save: 0.09s) +[05/27 17:00:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8314 +[05/27 17:00:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8314: 0/1 successful episodes +[05/27 17:00:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8392 (index 94/114) +[05/27 17:00:04 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8392 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 17:00:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/8 [00:00 does not support tracking retries. +Goal: place cleaning sponge next to white tape dispenser +[2026-05-27 17:01:16,605] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:01:48 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 17:06:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 8392 episode 0 object objacleaningsponge_afd092fac12f4ef8984b80d3d15de232_1_0_2 completed with success=False +[05/27 17:06:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8392: 1 episodes +[05/27 17:06:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:06:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:06:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8392 +[05/27 17:06:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8392 in 2.86s (batch: 2.77s, save: 0.09s) +[05/27 17:06:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8392 +[05/27 17:06:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8392: 0/1 successful episodes +[05/27 17:06:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8478 (index 95/114) +[05/27 17:06:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8478 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 17:06:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +[05/27 17:07:18 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_6f646752c976a94a62a6979581d2556d_1_0_3 in scene +Goal: place toy sword next to book +[2026-05-27 17:08:21,919] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:08:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 17:21:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 8478 episode 0 object objatoysword_3cab1a6d7fd045c6983b41b821b6cc26_1_0_6 completed with success=False +[05/27 17:21:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8478: 1 episodes +[05/27 17:21:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:21:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:21:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8478 +[05/27 17:21:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8478 in 2.87s (batch: 2.77s, save: 0.09s) +[05/27 17:21:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8478 +[05/27 17:21:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8478: 0/1 successful episodes +[05/27 17:21:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8546 (index 96/114) +[05/27 17:21:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8546 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 17:21:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/6 [00:00 does not support tracking retries. +Goal: place soft flat round bread with spots next to blue rectangular frying pan +[2026-05-27 17:22:53,117] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:23:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 17:28:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 8546 episode 0 object objaflatbread_7aecee021b9f464bbc5ac80d7d8308a4_1_0_2 completed with success=False +[05/27 17:28:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8546: 1 episodes +[05/27 17:28:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:28:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:28:25 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8546 +[05/27 17:28:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8546 in 2.23s (batch: 2.14s, save: 0.09s) +[05/27 17:28:25 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8546 +[05/27 17:28:25 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8546: 0/1 successful episodes +[05/27 17:28:25 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8662 (index 97/114) +[05/27 17:28:25 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8662 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 17:28:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +[05/27 17:28:40 Worker 0 WARNING object_manager.py:1238] Could not find object objamolecularmodel_270f91fbee564b88acb06a3558fd6958_1_0_2 in scene +Goal: place lightweight camouflage glider next to dark plaque +[2026-05-27 17:29:43,314] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:42:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 8662 episode 0 object objatoyplane_c210b610454f48488605759aa419c7af_1_0_6 completed with success=False +[05/27 17:42:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8662: 1 episodes +[05/27 17:42:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:42:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:42:45 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8662 +[05/27 17:42:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8662 in 2.24s (batch: 2.15s, save: 0.09s) +[05/27 17:42:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8662 +[05/27 17:42:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8662: 0/1 successful episodes +[05/27 17:42:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8727 (index 98/114) +[05/27 17:42:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8727 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 17:42:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +Goal: place gray video camera with handle next to stylized gray bird with orange beak +[2026-05-27 17:43:51,752] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:51:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 8727 episode 0 object objavideocamera_55426eda2ba244a4b177e4b85400937c_1_0_2 completed with success=False +[05/27 17:51:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8727: 1 episodes +[05/27 17:51:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:51:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:51:38 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8727 +[05/27 17:51:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8727 in 2.86s (batch: 2.77s, save: 0.09s) +[05/27 17:51:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8727 +[05/27 17:51:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8727: 0/1 successful episodes +[05/27 17:51:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8848 (index 99/114) +[05/27 17:51:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8848 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 17:51:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +Goal: place white porcelain candlestick with cherubs next to light brown rectangular cardboard box +[2026-05-27 17:52:59,968] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:53:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 18:11:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 8848 episode 0 object objacandlestick_576b8819466a4775815379687602a788_1_0_7 completed with success=False +[05/27 18:11:17 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8848: 1 episodes +[05/27 18:11:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:11:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:11:20 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8848 +[05/27 18:11:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8848 in 2.36s (batch: 2.27s, save: 0.09s) +[05/27 18:11:20 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8848 +[05/27 18:11:20 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8848: 0/1 successful episodes +[05/27 18:11:20 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8896 (index 100/114) +[05/27 18:11:20 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8896 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 18:11:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/26 [00:00 does not support tracking retries. +[05/27 18:11:27 Worker 0 WARNING object_manager.py:1238] Could not find object objafantasystaff_c2afbeb459e34f818f962e16914f116b_1_0_7 in scene +[05/27 18:11:27 Worker 0 WARNING object_manager.py:1238] Could not find object plate_3a462adb63be096cddd3c836fdb52686_1_0_7 in scene +Goal: place vintage mobile phone next to smooth yellow apple with stem +[2026-05-27 18:12:31,465] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:13:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 18:23:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 8896 episode 0 object objavintagemobilephone_e1a072af323f4d358bad054195353b96_1_0_6 completed with success=False +[05/27 18:23:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8896: 1 episodes +[05/27 18:23:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:23:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:23:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8896 +[05/27 18:23:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8896 in 2.27s (batch: 2.18s, save: 0.09s) +[05/27 18:23:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8896 +[05/27 18:23:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8896: 0/1 successful episodes +[05/27 18:23:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8981 (index 101/114) +[05/27 18:23:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8981 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 18:23:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/58 [00:00 does not support tracking retries. +Goal: place black curved remote control with buttons next to orange plaid pillow +[2026-05-27 18:24:28,710] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:25:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 18:41:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 8981 episode 0 object objaremotecontrol_cf2b3e74a7b547e2a75dba0187584190_1_0_3 completed with success=False +[05/27 18:42:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8981: 1 episodes +[05/27 18:42:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:42:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:42:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8981 +[05/27 18:42:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8981 in 2.28s (batch: 2.19s, save: 0.09s) +[05/27 18:42:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8981 +[05/27 18:42:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8981: 0/1 successful episodes +[05/27 18:42:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9033 (index 102/114) +[05/27 18:42:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9033 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 18:42:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +Goal: place sharpener next to veg +[2026-05-27 18:43:18,671] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:43:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 18:51:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 9033 episode 0 object objapencilsharpener_9906a13b5a5647dbad3c67a9150721cd_1_0_6 completed with success=False +[05/27 18:51:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9033: 1 episodes +[05/27 18:51:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:51:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:51:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9033 +[05/27 18:51:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9033 in 2.82s (batch: 2.73s, save: 0.09s) +[05/27 18:51:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9033 +[05/27 18:51:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9033: 0/1 successful episodes +[05/27 18:51:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9094 (index 103/114) +[05/27 18:51:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9094 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 18:51:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/27 18:52:08 Worker 0 WARNING object_manager.py:1238] Could not find object objaclaytablet_6f3cd26177eb4f679f06286bb6a2f304_1_0_7 in scene +[05/27 18:52:08 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaperroll_d72efd4c78e146d88aeff93a721c5330_1_0_7 in scene +Goal: place paintbrush with wooden handle next to blue hardcover book +[2026-05-27 18:53:16,885] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:53:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:07:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 9094 episode 0 object objapaintbrush_be6bd6967866421ea9dff02b84062bdf_1_0_4 completed with success=False +[05/27 19:07:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9094: 1 episodes +[05/27 19:07:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:07:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:07:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9094 +[05/27 19:07:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9094 in 2.27s (batch: 2.18s, save: 0.09s) +[05/27 19:07:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9094 +[05/27 19:07:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9094: 0/1 successful episodes +[05/27 19:07:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9169 (index 104/114) +[05/27 19:07:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9169 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 19:07:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/32 [00:00 does not support tracking retries. +[05/27 19:08:07 Worker 0 WARNING object_manager.py:1238] Could not find object objaheadpiece_59e157a7e97c4be8889f7af0ce06eed2_1_0_4 in scene +[05/27 19:08:07 Worker 0 WARNING object_manager.py:1238] Could not find object bowl_c594624adbb2b4b72f24e12b1047e7af_1_0_4 in scene +Goal: place red pagoda pop-up card next to brown cardboard box +[2026-05-27 19:09:10,335] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:09:44 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:20:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 9169 episode 0 object objapopupcard_c384a40a36554ddeb1a0a08f8ec266d3_1_0_7 completed with success=False +[05/27 19:20:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9169: 1 episodes +[05/27 19:20:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:20:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:20:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9169 +[05/27 19:20:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9169 in 2.90s (batch: 2.81s, save: 0.09s) +[05/27 19:20:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9169 +[05/27 19:20:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9169: 0/1 successful episodes +[05/27 19:20:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9259 (index 105/114) +[05/27 19:20:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9259 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 19:20:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +Goal: place sculpture next to yellow handled knife +[2026-05-27 19:21:44,978] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:22:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:23:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 9259 episode 0 object objadecorativecarving_5aa3736a4568498ea1cd62c0a0aeac5a_1_0_2 completed with success=False +[05/27 19:23:58 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9259: 1 episodes +[05/27 19:23:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:24:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:24:01 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9259 +[05/27 19:24:01 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9259 in 2.92s (batch: 2.83s, save: 0.09s) +[05/27 19:24:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9259 +[05/27 19:24:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9259: 0/1 successful episodes +[05/27 19:24:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9327 (index 106/114) +[05/27 19:24:02 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9327 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 19:24:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/32 [00:00 does not support tracking retries. +Goal: place green packet next to golden brown loaf of bread +[2026-05-27 19:25:25,221] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:26:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:38:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 9327 episode 0 object objafoodpacket_58ff4a1e3fb24fbca6989f9b6d1fe23e_1_0_8 completed with success=False +[05/27 19:38:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9327: 1 episodes +[05/27 19:38:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:38:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:38:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9327 +[05/27 19:38:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9327 in 2.98s (batch: 2.89s, save: 0.09s) +[05/27 19:38:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9327 +[05/27 19:38:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9327: 0/1 successful episodes +[05/27 19:38:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9431 (index 107/114) +[05/27 19:38:57 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9431 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 19:38:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +Goal: place small brown paper bag next to shallow round metallic cooking pan with handles +[2026-05-27 19:40:19,799] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:48:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 9431 episode 0 object objapaperbag_9ccf2fce68ea45e0b0861038d5aa035d_1_0_6 completed with success=False +[05/27 19:48:35 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9431: 1 episodes +[05/27 19:48:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:48:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:48:38 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9431 +[05/27 19:48:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9431 in 2.83s (batch: 2.74s, save: 0.09s) +[05/27 19:48:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9431 +[05/27 19:48:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9431: 0/1 successful episodes +[05/27 19:48:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9511 (index 108/114) +[05/27 19:48:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9511 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 19:48:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/25 [00:00 does not support tracking retries. +Goal: place white rectangular component with wires next to tall white candle on dark holder +[2026-05-27 19:49:52,737] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:00:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 9511 episode 0 object objaelectricalcomponent_aab3af6780ff4bb7a5ec47cb4046d811_2_0_7 completed with success=False +[05/27 20:00:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9511: 1 episodes +[05/27 20:00:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:00:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:00:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9511 +[05/27 20:00:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9511 in 2.93s (batch: 2.84s, save: 0.09s) +[05/27 20:00:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9511 +[05/27 20:00:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9511: 0/1 successful episodes +[05/27 20:00:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9591 (index 109/114) +[05/27 20:00:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9591 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 20:00:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/13 [00:00 does not support tracking retries. +Goal: place vintage wooden hand plane with blade next to cream hardcover unix programming book +[2026-05-27 20:01:27,720] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:02:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:08:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 9591 episode 0 object objahandplane_14a7c067deec4920bf94b61f67126f31_1_0_2 completed with success=False +[05/27 20:08:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9591: 1 episodes +[05/27 20:08:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:08:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:08:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9591 +[05/27 20:08:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9591 in 2.18s (batch: 2.09s, save: 0.09s) +[05/27 20:08:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9591 +[05/27 20:08:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9591: 0/1 successful episodes +[05/27 20:08:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9660 (index 110/114) +[05/27 20:08:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9660 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 20:08:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/14 [00:00 does not support tracking retries. +Goal: place headphone next to sandglass +[2026-05-27 20:09:45,308] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:10:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:17:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 9660 episode 0 object objaheadset_b2c1fc509240456894c803a7d77dd549_1_0_3 completed with success=False +[05/27 20:17:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9660: 1 episodes +[05/27 20:17:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:17:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:17:47 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9660 +[05/27 20:17:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9660 in 2.39s (batch: 2.29s, save: 0.09s) +[05/27 20:17:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9660 +[05/27 20:17:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9660: 0/1 successful episodes +[05/27 20:17:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9742 (index 111/114) +[05/27 20:17:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9742 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 20:17:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +Goal: place rubber mallet with handle next to red tomato +[2026-05-27 20:19:14,773] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:19:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:26:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 9742 episode 0 object objarubbermallet_f6f3eee2d418463bbab1abe93e274d60_1_0_2 completed with success=False +[05/27 20:26:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9742: 1 episodes +[05/27 20:26:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:26:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:26:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9742 +[05/27 20:26:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9742 in 2.80s (batch: 2.71s, save: 0.09s) +[05/27 20:26:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9742 +[05/27 20:26:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9742: 0/1 successful episodes +[05/27 20:26:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9850 (index 112/114) +[05/27 20:26:37 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 9850 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 20:26:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/17 [00:00 does not support tracking retries. +[05/27 20:26:51 Worker 0 WARNING object_manager.py:1238] Could not find object objahandle_a168ec0564fb4a1e98caadee6866be28_1_0_2 in scene +[05/27 20:26:51 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_d9d42e7cce766240326bcd4fc80dc6a7_1_0_2 in scene +Goal: place glossy black remote control next to toytower +[2026-05-27 20:27:55,105] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:28:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:35:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 9850 episode 0 object objaremotecontrol_bd51773c52e54812a88c38c14935ae98_1_0_3 completed with success=False +[05/27 20:35:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/17 [00:00 does not support tracking retries. +[05/27 20:35:21 Worker 0 WARNING object_manager.py:1238] Could not find object objahandle_a168ec0564fb4a1e98caadee6866be28_1_0_2 in scene +[05/27 20:35:21 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_d9d42e7cce766240326bcd4fc80dc6a7_1_0_2 in scene +Goal: place whimsical pink roofed tower next to sleek glossy black remote control +[2026-05-27 20:36:26,855] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:37:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:43:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 9850 episode 1 object objatoytower_9c57f4e2d52845058a6a93f44cc999d9_1_0_3 completed with success=False +[05/27 20:43:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9850: 2 episodes +[05/27 20:43:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:43:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:43:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:43:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:43:53 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9850 +[05/27 20:43:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9850 in 5.74s (batch: 5.57s, save: 0.17s) +[05/27 20:43:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9850 +[05/27 20:43:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9850: 0/2 successful episodes +[05/27 20:43:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9899 (index 113/114) +[05/27 20:43:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9899 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 20:43:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/17 [00:00 does not support tracking retries. +Goal: place vase next to cream hardcover unix programming book +[2026-05-27 20:45:08,359] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:45:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:52:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 9899 episode 0 object vase_485850bef5e28630dd1156aaec2e3528_1_0_2 completed with success=False +[05/27 20:52:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9899: 1 episodes +[05/27 20:52:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:52:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:52:47 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9899 +[05/27 20:52:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9899 in 2.26s (batch: 2.17s, save: 0.09s) +[05/27 20:52:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9899 +[05/27 20:52:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9899: 0/1 successful episodes +[05/27 20:52:48 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses +[05/27 20:52:48 INFO pipeline.py:1496] Completed 114 houses, skipped 0 houses +[05/27 20:52:48 INFO pipeline.py:1499] Success count: 5, Total count: 118 +[05/27 20:52:48 INFO pipeline.py:1500] Success rate: 4.24% +Combined 118 episodes from 114 files → /tmp/tmp_fo65oy7.h5 + +Saved → /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/results.csv at-end: 4.24% | oracle: 4.24% of 118 episodes +[2026-05-27 20:53:02,004] INFO MolmoSpaces simulator eval finished: success=5/118 rate=0.0424 output=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval +[2026-05-27 20:53:02,004] INFO Benchmark CSV: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/results.csv diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/eval_meta.json b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/eval_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6eb4a2033b6858907b3158ef2ca9cf202d85de6e --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/eval_meta.json @@ -0,0 +1,9 @@ +{ + "step": null, + "checkpoint_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt", + "benchmark_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01", + "policy_name": "latest", + "command": "#!/usr/bin/env bash\nset -euo pipefail\ncd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy\nconda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament", + "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815", + "csv_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/results.csv" +} diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/results.csv b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/results.csv new file mode 100644 index 0000000000000000000000000000000000000000..0b3728e374ac9700177ba69b30200f6a096c17d6 --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/results.csv @@ -0,0 +1,119 @@ +# policy_name: latest +# run_path: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815 +# dt: 0.066 +# max_steps: 450 +policy,category,successes,total,success_rate_pct,ci_95_low_pct,ci_95_high_pct,oracle_successes,oracle_rate_pct,oracle_ci_95_low_pct,oracle_ci_95_high_pct,jerk_joint_mean,jerk_joint_std +latest,Alarmclock,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.595603,0.0 +latest,Bowl,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,22.659875,0.0 +latest,Cellulartelephone,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,89.994736,0.0 +latest,Egg,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,56.497801,0.0 +latest,Irishpotato,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,35.252893,0.0 +latest,Objaadhesivetape,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,56.091583,0.0 +latest,Objaalienbust,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,25.243707,0.0 +latest,Objaamulet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.810271,0.0 +latest,Objaanglegrinder,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.951698,0.0 +latest,Objaarchitecturalmolding,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.049044,0.0 +latest,Objaarrowhead,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,63.766723,0.0 +latest,Objaaviatorhelmet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.020201,0.0 +latest,Objabarclamp,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,47.271319,0.0 +latest,Objabolt,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,9.855721,0.0 +latest,Objabutterflyknife,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,38.598313,0.0 +latest,Objacandle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,34.095904,0.0 +latest,Objacandlestick,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,123.388124,0.0 +latest,Objacanopener,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,84.894106,0.0 +latest,Objaceramicdish,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,31.790713,0.0 +latest,Objachefsknife,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,34.987584,0.0 +latest,Objaclaydish,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,50.805703,0.0 +latest,Objacleaningsponge,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.737399,0.0 +latest,Objaclothesiron,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,26.176363,0.0 +latest,Objacookie,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.749231,0.0 +latest,Objacookingpot,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,26.445017,0.0 +latest,Objacostumefigure,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,176.461147,0.0 +latest,Objacucumber,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,235.516929,0.0 +latest,Objadecorativebird,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,17.501585,0.0 +latest,Objadecorativebowl,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.096544,0.0 +latest,Objadecorativecandle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,31.452304,0.0 +latest,Objadecorativecarving,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.401039,0.0 +latest,Objadecorativedisc,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.22707,0.0 +latest,Objadecorativefixture,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.788523,0.0 +latest,Objadecorativefruit,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,105.860287,0.0 +latest,Objadecorativehorn,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,127.968073,0.0 +latest,Objadecorativescript,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,26.845244,0.0 +latest,Objadecorativespike,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,14.900974,0.0 +latest,Objadispenser,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,53.394269,0.0 +latest,Objadisposablecoffeecup,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.254203,0.0 +latest,Objadoorlock,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,144.137325,0.0 +latest,Objaelectricalcomponent,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.450725,0.0 +latest,Objaelectricalconnector,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.735328,0.0 +latest,Objaeyeglasses,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,83.688235,0.0 +latest,Objaeyemodel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,22.315955,0.0 +latest,Objaflatbread,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,31.33332,0.0 +latest,Objafoodpacket,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,17.725728,0.0 +latest,Objafruit,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,102.317535,0.0 +latest,Objagastorch,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.625986,0.0 +latest,Objagreetingcard,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,90.902205,54.560064 +latest,Objagrenade,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,84.783087,0.0 +latest,Objahandaxe,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,19.412249,0.0 +latest,Objahandbell,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,21.882461,0.0 +latest,Objahandheldmirror,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,21.408088,0.0 +latest,Objahandheldradio,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,27.639072,0.0 +latest,Objahandplane,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,33.215134,0.0 +latest,Objaheadphones,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,46.744281,0.0 +latest,Objaheadset,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,20.963183,0.0 +latest,Objahinge,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,34.197697,0.0 +latest,Objainsect,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,28.931556,0.0 +latest,Objaknife,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,44.337108,0.0 +latest,Objakylix,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,31.816387,0.0 +latest,Objalemonsqueezer,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,104.049545,0.0 +latest,Objalid,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,56.188478,0.0 +latest,Objamagnet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,66.438863,0.0 +latest,Objamarchingbandhat,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,35.642754,0.0 +latest,Objamedal,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,26.653704,0.0 +latest,Objaminiaturemodel,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,37.304812,0.0 +latest,Objamodelrocket,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,77.832185,0.0 +latest,Objamosaicfragment,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,33.058611,0.0 +latest,Objamoth,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.299524,0.0 +latest,Objamug,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,30.002291,0.0 +latest,Objanail,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,62.787437,0.0 +latest,Objanightvisiongoggles,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,68.812999,0.0 +latest,Objaoperaglasses,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.288603,0.0 +latest,Objapaintbrush,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,53.504123,0.0 +latest,Objapaperbag,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.749242,0.0 +latest,Objapencilsharpener,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.020434,0.0 +latest,Objapestle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,31.405483,0.0 +latest,Objapillbottle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,67.002932,0.0 +latest,Objapliers,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.373944,0.0 +latest,Objapomegranate,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,16.243631,0.0 +latest,Objapopupcard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.897148,0.0 +latest,Objaprintedcircuitboard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.088117,0.0 +latest,Objarailmount,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,52.795076,0.0 +latest,Objarawhide,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,62.494243,0.0 +latest,Objaremotecontrol,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,64.131542,24.188897 +latest,Objaring,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,39.13681,0.0 +latest,Objarotarytelephone,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,18.327643,0.0 +latest,Objarubbermallet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.405,0.0 +latest,Objascissors,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.885426,0.0 +latest,Objasponge,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,49.095228,0.0 +latest,Objaspraycan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,31.213494,0.0 +latest,Objaspraypaintcan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,16.774343,0.0 +latest,Objastatue,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,61.517628,0.0 +latest,Objastoneartifact,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.544631,0.0 +latest,Objastonedisc,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,30.40438,21.997949 +latest,Objastonetool,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.541408,0.0 +latest,Objastraightrazor,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.326549,0.0 +latest,Objatacticalpouch,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.766731,0.0 +latest,Objatapedispenser,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,22.671667,0.0 +latest,Objatoyplane,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.857226,0.0 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a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/summary.json b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..6051373be344ee33cadcad5c208530dcd4a368dd --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/summary.json @@ -0,0 +1,202 @@ +{ + "checkpoint_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt", + "benchmark_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01", + "benchmark_source": "arg", + "benchmark_mode": "official", + "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815", + 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"metadata": {}} +{"house_id": "house_1339", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray metal bolt and place it next to the simple light brown ceramic bowl", "object_name": "objabolt_4f48638f93984ef0a7e6cfc6cc1e08f2_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1339/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1415", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the clothes iron and place it next to the rusty adjustable metal wrench", "object_name": "objaclothesiron_586af9dfd18d4244a46f5e5e0a474be6_1_0_8", "data_file_path": 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container and place it next to the sorbent", "object_name": "objadispenser_dae48a392c5a4f3aa00235e664ee7d4d_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3122/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3224", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue metal clamp and place it next to the cassette recorder", "object_name": "objabarclamp_cb6dfd3688694664b9fadfe4556882d1_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3224/trajectories_batch_1_of_1.h5", "metadata": {}} 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"metadata": {}} +{"house_id": "house_3816", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green and black pliers and place it next to the small grassy patch with dirt", "object_name": "objapliers_5a293649f3f64061accc9afdb4008c25_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3816/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3871", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the round soft fuzzy peach and place it next to the red toy rocket with fins", "object_name": "objafruit_bb7f4908308d4ba5bce1b07d4d730904_1_0_8", "data_file_path": 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449, "task_description": "Pick up the rustic wooden mug with handle and place it next to the red envelope with triangular gray flap", "object_name": "objamug_8529afb010814c188970381c3596afef_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5103/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5181", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red strawberry with green leaves and place it next to the yellow white package with curry", "object_name": "objadecorativefruit_963a56c7201143eba6bbcdf2ad60c1c3_1_0_6", "data_file_path": 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"task_description": "Pick up the mosaic fragment and place it next to the white toilet paper roll", "object_name": "objamosaicfragment_780cc0fe43954935b548b72e5c9e129d_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5418/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5507", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 168, "task_description": "Pick up the gold headphones with red padding and place it next to the green smartphone with black touchscreen", "object_name": "objaheadphones_298b981b427947188a1b361bf65a2c98_1_0_2", "data_file_path": 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"Pick up the white saturn v rocket with markings and place it next to the orange plaid pillow cushion", "object_name": "objamodelrocket_782d80395e25463a815a92e883c86c02_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5632/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5708", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the amber cylindrical prescription pill bottle and place it next to the foodstuff", "object_name": "objapillbottle_7339a87dac884f1e8aeed3bf80dc0a5f_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5708/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5836", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark metal hinge with pivot and place it next to the dark muscular statue standing dynamically", "object_name": "objahinge_d443380245cb4898bc96b341d37bcd43_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5836/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5907", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the serene stone statue with patterned robe and place it next to the silver bullet with red band tip", "object_name": "objastatue_a8e9e70f3ca14aa7a21b3e9ac2eacbd9_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5907/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_591", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the large rusty metal nail and place it next to the fresh round green lettuce", "object_name": "objanail_7ef93eea9c5349abb276931726681dc3_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_591/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5980", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the hand axe and place it next to the slim pink cellphone with buttons", "object_name": "objahandaxe_b0b87362f235438dbd703daa13551696_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5980/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6083", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray stone and place it next to the detailed red and white race car", "object_name": "objastoneartifact_fc6cadc870a841cc8edb35bc21f9a004_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6083/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6153", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the soapdispenser and place it next to the spray", "object_name": "soapdispenser_4d425f15f8385d9b5381f2b606372c15_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6153/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6240", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rusty spray paint can with blue and place it next to the blue bomb with white skull emblem", "object_name": "objaspraypaintcan_9e725e49c0074fc0a1a08cacc85ee898_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6240/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_628", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the circular gold ornate openwork ornament and place it next to the shiny gold vase", "object_name": "objadecorativefixture_e14a2e218f6e4a588489e4b5508bff5e_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_628/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6287", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black hat yellow plume and place it next to the green lenses on night vision goggles", "object_name": "objamarchingbandhat_04ca4cc9ff7c4546a438d55c727fc557_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6287/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6348", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the brown moth and place it next to the rectangular dark teal box", "object_name": "objamoth_c4c8eb2f231447009230db56835f76a7_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6348/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6403", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage red wall-mounted rotary telephone and place it next to the light blue labeled cleaning bottle", "object_name": "objarotarytelephone_0beb78c11c0f4537a27c53f8e46ddb86_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6403/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6515", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 84, "task_description": "Pick up the red torii gate with black and place it next to the tall black top hat", "object_name": "objaminiaturemodel_5ab1392182d345b49b3391f7776339e9_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6515/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6616", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the round metallic lid with handle and place it next to the small red potato with texture", "object_name": "objalid_dfddb32ab2c64ee2a96f905feb9d467f_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6616/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6733", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wooden pestle with jagged top and place it next to the white ceramic vase with ridges", "object_name": "objapestle_668fa2b7443e423f8b0d252d82a3d100_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6733/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6787", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the glossy dark angular architectural cornice and place it next to the plesiosaurus", "object_name": "objaarchitecturalmolding_f13cbb13a3ac48f4bd7e1dd9187a55d6_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6787/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6787", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black vr headset with antennas and place it next to the shiny metallic key with notches", "object_name": "objavirtualrealityheadset_3cd83343e5c6450db20895a88fbd4de2_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6787/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6819", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the robust metal door lock mechanism and place it next to the bulbous shiny gold vase", "object_name": "objadoorlock_3d56a40e1bae492b89072f71651d2d63_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6819/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6930", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the nightvisiongoggles and place it next to the glossy blue vase", "object_name": "objanightvisiongoggles_396b90fb83cb4f06b96b1f9a120af75b_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6930/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_699", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray polished human hand statue and place it next to the large black hardcover book titled noughts", "object_name": "statue_e2da6cf9030ad270d01ac0fa5001917f_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_699/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6991", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray stone arrowhead with pink and place it next to the white rabbit pink eyes", "object_name": "objaarrowhead_a3ba93523eed41f69c1e55e55ebb7789_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6991/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_7043", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the eye model and place it next to the medium red apple", "object_name": "objaeyemodel_bba987e54f5d4724b9ffb799c8d98895_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7043/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_7126", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the yellow truck with gray container trailer and place it next to the neuron model", "object_name": "objatoytruck_2819f02722574b59b5efc5c3e62f3b2c_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7126/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_7192", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue birthday card with fox and rabbit and place it next to the furniture", "object_name": "objagreetingcard_5c7029b2edd248cdafcfd33c93ff1728_1_0_2", "data_file_path": 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green manual can opener and place it next to the teal spiral wand", "object_name": "objacanopener_8237129bfae244d7a62d706937f9f106_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7480/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_7613", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the multicolored thick glasses and place it next to the glossy wooden tapered cup", "object_name": "objaeyeglasses_64eab051bace4d45a878fdf664f8baac_1_0_6", "data_file_path": 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"task_description": "Pick up the eggs and place it next to the tall copper cup with ridges", "object_name": "egg_42ba097bdb4a3b55fe0b3765a6f91265_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7790/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_7871", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the round brown ceramic dish with fish and place it next to the tall clear cup", "object_name": "objaceramicdish_188a46ce27e04b76abc01ba942ccb69d_1_0_6", "data_file_path": 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"/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9431/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9511", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white rectangular component with wires and place it next to the tall white candle on dark holder", "object_name": "objaelectricalcomponent_aab3af6780ff4bb7a5ec47cb4046d811_2_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9511/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9591", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage wooden hand plane with blade and place it next to the cream hardcover unix programming book", "object_name": "objahandplane_14a7c067deec4920bf94b61f67126f31_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9591/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9660", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the headphone and place it next to the sandglass", "object_name": "objaheadset_b2c1fc509240456894c803a7d77dd549_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9660/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9742", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rubber mallet with handle and place it next to the red tomato", "object_name": "objarubbermallet_f6f3eee2d418463bbab1abe93e274d60_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9742/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9850", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the glossy black remote control and place it next to the toytower", "object_name": "objaremotecontrol_bd51773c52e54812a88c38c14935ae98_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9850/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9850", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the whimsical pink roofed tower and place it next to the sleek glossy black remote control", "object_name": "objatoytower_9c57f4e2d52845058a6a93f44cc999d9_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9850/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_988", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the circular stone disc with hole and place it next to the bronze full-figured statue", "object_name": "objastonedisc_bb31ba58de6e457aa1251a63ede16de2_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_988/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9899", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vase and place it next to the cream hardcover unix programming book", "object_name": "vase_485850bef5e28630dd1156aaec2e3528_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9899/trajectories_batch_1_of_1.h5", "metadata": {}} diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/submission/eval.log b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/submission/eval.log new file mode 100644 index 0000000000000000000000000000000000000000..ace3973c8062f2c32dd739a04edad99a3f2c8739 --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/submission/eval.log @@ -0,0 +1,3700 @@ +[2026-05-26 19:43:51,131] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath'] +[2026-05-26 19:43:51,133] INFO Using MuJoCo EGL device id: 1 +[2026-05-26 19:43:51,133] INFO Using pre-set MUJOCO_GL backend: egl +[2026-05-26 19:43:51,178] INFO Using MolmoSpaces benchmark: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 (source=arg) +[2026-05-26 19:43:53,191] INFO No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +[nltk_data] Downloading package wordnet to /home/yuanpei/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /home/yuanpei/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +[2026-05-26 19:44:03,529] INFO ResourceManager (R2RemoteStorage('https://pub-3555e9bb2d304fab9c6c79819e48aa40.r2.dev')) using: + symlink_dir=/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets + cache_dir=/home/yuanpei/.cache/molmo-spaces-resources + force_install=True +/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py:129: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +[2026-05-26 19:48:10,279] INFO Requested MolmoSpaces simulator cameras: ['droid_shoulder_light_randomization', 'wrist_camera_zed_mini'] +[2026-05-26 19:48:10,279] INFO Using save_video_sensors=['__none__'] +[2026-05-26 19:48:15,710] INFO Resolved MolmoSpaces action semantics from checkpoint: source=pnp_next_to_v2 type=molmo_raw arm_action_key=joint_pos_rel gripper_action_key=joint_pos action_type=joint_pos_rel arm_command_mode=joint_rel_position +[2026-05-26 19:48:15,755] INFO Using explicit task_horizon override: 450 steps +[05/26 19:48:16 INFO pipeline.py:677] WandB logging disabled (environment variables not set) +[2026-05-26 19:48:16,188] INFO JsonEvalRunner initialized: 114 houses, 118 episodes from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/26 19:48:16 INFO pipeline.py:1279] Starting house-by-house rollout of 114 houses with 2 episodes each (228 total episodes) using 1 worker processes +[05/26 19:48:16 INFO pipeline.py:1286] Evaluation configuration: +[05/26 19:48:16 INFO pipeline.py:1287] {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['droid_shoulder_light_randomization', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 'wan_molmobot_franka', + 'obs_camera_name': 'droid_shoulder_light_randomization', + 'obs_image_key': 'rgb_head', + 'obs_state_key': 'robot_state', + 'obs_wrist_camera_name': 'wrist_camera_zed_mini', + 'obs_wrist_image_key': 'rgb_wrist', + 'policy_cls': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [591, + 628, + 699, + 744, + 803, + 884, + 988, + 1065, + 1184, + 1265, + 1339, + 1415, + 1552, + 1667, + 1734, + 1793, + 1916, + 2025, + 2094, + 2201, + 2331, + 2434, + 2490, + 2599, + 2724, + 2834, + 2892, + 3019, + 3122, + 3224, + 3273, + 3346, + 3409, + 3500, + 3577, + 3677, + 3749, + 3816, + 3871, + 3993, + 4079, + 4191, + 4255, + 4298, + 4345, + 4439, + 4514, + 4636, + 4685, + 4696, + 4731, + 4821, + 4917, + 4999, + 5103, + 5181, + 5248, + 5418, + 5507, + 5578, + 5632, + 5708, + 5836, + 5907, + 5980, + 6083, + 6153, + 6240, + 6287, + 6348, + 6403, + 6515, + 6616, + 6733, + 6787, + 6819, + 6930, + 6991, + 7043, + 7126, + 7192, + 7319, + 7356, + 7434, + 7480, + 7613, + 7705, + 7790, + 7871, + 7985, + 8087, + 8177, + 8235, + 8314, + 8392, + 8478, + 8546, + 8662, + 8727, + 8848, + 8896, + 8981, + 9033, + 9094, + 9169, + 9259, + 9327, + 9431, + 9511, + 9591, + 9660, + 9742, + 9850, + 9899], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} +[2026-05-26 19:48:16,193] INFO Saved experiment configuration to /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815 +[05/26 19:48:16 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler +[05/26 19:48:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/26 19:48:16 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler +[05/26 19:48:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 591 (index 0/114) +[05/26 19:48:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 591 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/26 19:48:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +[05/26 19:48:35 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeaccessory_e47911ac361a45c3b6c7f2f1d9071876_1_0_5 in scene +[05/26 19:48:35 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeaccessory_e47911ac361a45c3b6c7f2f1d9071876_2_0_5 in scene +[05/26 19:48:35 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturetower_0780a7e5369442c3967681084a046588_1_0_5 in scene +[05/26 19:48:35 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene +Goal: place large rusty metal nail next to fresh round green lettuce +2026-05-26 19:48:36.018 | INFO | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0 +[2026-05-26 19:48:36,941] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k) +[2026-05-26 19:48:38,982] INFO [timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k] Safe alternative available for 'pytorch_model.bin' (as 'model.safetensors'). Loading weights using safetensors. +[2026-05-26 19:48:39,567] INFO Number of parameters in DiT: 1.821428e+07 +[2026-05-26 19:48:39,822] INFO Loaded generic psi-policy checkpoint | target=psi_policy.policy.psi_policy.PsiPolicy | obs_keys=['rgb_head', 'rgb_wrist', 'robot_state', 'text_context'] | action_horizon=16 | action_dim=8 +[2026-05-26 19:48:39,825] INFO Loaded MolmoSpaces policy | checkpoint=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt | target=psi_policy.policy.psi_policy.PsiPolicy | device=cuda:0 | action_chunk_size=8 +[05/26 19:48:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 19:57:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 591 episode 0 object objanail_7ef93eea9c5349abb276931726681dc3_1_0_6 completed with success=False +[05/26 19:57:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_591: 1 episodes +[05/26 19:57:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 19:57:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 19:57:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_591 +[05/26 19:57:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_591 in 2.84s (batch: 2.76s, save: 0.09s) +[05/26 19:57:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_591 +[05/26 19:57:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 591: 0/1 successful episodes +[05/26 19:57:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 628 (index 1/114) +[05/26 19:57:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 628 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/26 19:57:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[05/26 19:58:07 Worker 0 WARNING object_manager.py:1238] Could not find object objaturbinewheel_95bbc607d38d4865b6d9618799710335_1_0_4 in scene +[05/26 19:58:07 Worker 0 WARNING object_manager.py:1238] Could not find object objabeltbuckle_74aa04de731f4b0a9c8dda34e07e1266_1_0_4 in scene +[05/26 19:58:07 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +[05/26 19:58:07 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativewallart_41ab3efe80974302bff69de2400e67bc_1_0_9 in scene +Goal: place circular gold ornate openwork ornament next to shiny gold vase +[2026-05-26 19:59:09,924] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/huggingface_hub/file_download.py:945: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`. + warnings.warn( +[05/26 19:59:42 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 20:13:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 628 episode 0 object objadecorativefixture_e14a2e218f6e4a588489e4b5508bff5e_1_0_4 completed with success=False +[05/26 20:13:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_628: 1 episodes +[05/26 20:13:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:13:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:13:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_628 +[05/26 20:13:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_628 in 2.76s (batch: 2.68s, save: 0.09s) +[05/26 20:13:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_628 +[05/26 20:13:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 628: 0/1 successful episodes +[05/26 20:13:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 699 (index 2/114) +[05/26 20:13:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 699 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/26 20:13:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[05/26 20:13:46 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingpanel_8bde878be8dd4fb7b6914db9c4dd31bb_1_0_9 in scene +Goal: place gray polished human hand statue next to large black hardcover book titled noughts +[2026-05-26 20:14:43,567] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 20:15:13 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 20:28:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 699 episode 0 object statue_e2da6cf9030ad270d01ac0fa5001917f_1_0_4 completed with success=False +[05/26 20:28:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_699: 1 episodes +[05/26 20:28:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:28:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:28:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_699 +[05/26 20:28:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_699 in 2.97s (batch: 2.88s, save: 0.09s) +[05/26 20:28:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_699 +[05/26 20:28:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 699: 0/1 successful episodes +[05/26 20:28:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 744 (index 3/114) +[05/26 20:28:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 744 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/26 20:28:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +Goal: place gas torch next to white and teal instant camera +[2026-05-26 20:29:38,232] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 20:30:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 20:38:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 744 episode 0 object objagastorch_9d24aac8a4c444a1b440647aa6f96438_2_0_6 completed with success=False +[05/26 20:38:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_744: 1 episodes +[05/26 20:38:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:38:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:38:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_744 +[05/26 20:38:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_744 in 2.95s (batch: 2.86s, save: 0.09s) +[05/26 20:38:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_744 +[05/26 20:38:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 744: 0/1 successful episodes +[05/26 20:38:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 803 (index 4/114) +[05/26 20:38:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 803 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/26 20:38:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +Goal: place sleek turquoise tape dispenser with base next to black paint can +[2026-05-26 20:40:06,646] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 20:50:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 803 episode 0 object objatapedispenser_2988a85fdf0f4a679b17335bd8e26871_1_0_5 completed with success=False +[05/26 20:50:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_803: 1 episodes +[05/26 20:50:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:50:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:50:12 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_803 +[05/26 20:50:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_803 in 2.87s (batch: 2.78s, save: 0.09s) +[05/26 20:50:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_803 +[05/26 20:50:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 803: 0/1 successful episodes +[05/26 20:50:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 884 (index 5/114) +[05/26 20:50:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 884 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/26 20:50:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +[05/26 20:50:33 Worker 0 WARNING object_manager.py:1238] Could not find object objaaircraftmodel_af978d4fc4f6450a8108f62cd11941b8_1_0_6 in scene +[05/26 20:50:33 Worker 0 WARNING object_manager.py:1238] Could not find object objaprintedcircuitboard_dd07a5351c854a02bb6def55164023dd_1_0_6 in scene +Goal: place blue can next to blue soap bottle with pump +[2026-05-26 20:51:35,786] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:09:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 884 episode 0 object objaspraycan_761fd13227bd411a9a10d9ecae0e6b8d_1_0_5 completed with success=False +[05/26 21:09:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_884: 1 episodes +[05/26 21:09:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:09:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:09:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_884 +[05/26 21:09:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_884 in 2.80s (batch: 2.71s, save: 0.09s) +[05/26 21:09:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_884 +[05/26 21:09:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 884: 0/1 successful episodes +[05/26 21:09:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 988 (index 6/114) +[05/26 21:09:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 988 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/26 21:09:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +[05/26 21:10:05 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +Goal: place circular stone disc with hole next to bronze full-figured statue +[2026-05-26 21:11:01,473] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:11:33 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 21:22:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 988 episode 0 object objastonedisc_bb31ba58de6e457aa1251a63ede16de2_1_0_8 completed with success=False +[05/26 21:22:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_988: 1 episodes +[05/26 21:22:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:22:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:22:43 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_988 +[05/26 21:22:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_988 in 2.85s (batch: 2.76s, save: 0.09s) +[05/26 21:22:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_988 +[05/26 21:22:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 988: 0/1 successful episodes +[05/26 21:22:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1065 (index 7/114) +[05/26 21:22:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1065 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/26 21:22:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +Goal: place circular stone disc with hole next to small glossy turquoise eye of horus amulet +[2026-05-26 21:23:47,891] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:24:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 21:38:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 1065 episode 0 object objastonedisc_bb31ba58de6e457aa1251a63ede16de2_1_0_4 completed with success=False +[05/26 21:38:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1065: 1 episodes +[05/26 21:38:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:38:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:38:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1065 +[05/26 21:38:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1065 in 2.82s (batch: 2.73s, save: 0.09s) +[05/26 21:38:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1065 +[05/26 21:38:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1065: 0/1 successful episodes +[05/26 21:38:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1184 (index 8/114) +[05/26 21:38:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1184 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/26 21:38:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/6 [00:00 does not support tracking retries. +Goal: place rustic round clay dish with handles next to transparent tall wine glass +[2026-05-26 21:39:41,083] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:40:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 21:45:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 1184 episode 0 object objaclaydish_fb56f8968a9c443897498a9ccf5c46d1_1_0_2 completed with success=False +[05/26 21:45:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1184: 1 episodes +[05/26 21:45:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:45:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:45:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1184 +[05/26 21:45:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1184 in 2.87s (batch: 2.78s, save: 0.09s) +[05/26 21:45:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1184 +[05/26 21:45:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1184: 0/1 successful episodes +[05/26 21:45:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1265 (index 9/114) +[05/26 21:45:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1265 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/26 21:45:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[05/26 21:46:03 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaperroll_e1cf65984fff46168396e0b74861f845_1_0_7 in scene +[05/26 21:46:03 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_7 in scene +Goal: place red u-shaped magnet next to smooth green rectangular pillow cushion +[2026-05-26 21:47:03,568] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:47:34 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 21:59:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 1265 episode 0 object objamagnet_a734ce1339d44d2fbad906439777be78_1_0_9 completed with success=False +[05/26 21:59:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1265: 1 episodes +[05/26 21:59:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:59:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:59:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1265 +[05/26 21:59:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1265 in 2.26s (batch: 2.14s, save: 0.12s) +[05/26 21:59:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1265 +[05/26 21:59:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1265: 0/1 successful episodes +[05/26 21:59:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1339 (index 10/114) +[05/26 21:59:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1339 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/26 21:59:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/7 [00:00 does not support tracking retries. +Goal: place gray metal bolt next to simple light brown ceramic bowl +[2026-05-26 22:00:42,156] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:01:14 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 22:06:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 1339 episode 0 object objabolt_4f48638f93984ef0a7e6cfc6cc1e08f2_1_0_2 completed with success=False +[05/26 22:06:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1339: 1 episodes +[05/26 22:06:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:07:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:07:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1339 +[05/26 22:07:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1339 in 2.79s (batch: 2.70s, save: 0.09s) +[05/26 22:07:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1339 +[05/26 22:07:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1339: 0/1 successful episodes +[05/26 22:07:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1415 (index 11/114) +[05/26 22:07:03 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1415 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/26 22:07:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[05/26 22:07:33 Worker 0 WARNING object_manager.py:1238] Could not find object objafoil_1c043fb628124513b30a2d7d3ba26bac_1_0_5 in scene +[05/26 22:07:33 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_834d386e080077accc22e6eae5471528_1_0_5 in scene +Goal: place clothes iron next to rusty adjustable metal wrench +[2026-05-26 22:08:34,776] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:09:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 22:21:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 1415 episode 0 object objaclothesiron_586af9dfd18d4244a46f5e5e0a474be6_1_0_8 completed with success=False +[05/26 22:22:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1415: 1 episodes +[05/26 22:22:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:22:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:22:06 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1415 +[05/26 22:22:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1415 in 2.89s (batch: 2.80s, save: 0.09s) +[05/26 22:22:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1415 +[05/26 22:22:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1415: 0/1 successful episodes +[05/26 22:22:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1552 (index 12/114) +[05/26 22:22:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1552 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/26 22:22:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +[05/26 22:22:12 Worker 0 WARNING object_manager.py:1238] Could not find object objalantern_be2f9b16082544e2ac5f9f54a3d8eebc_1_0_7 in scene +[05/26 22:22:12 Worker 0 WARNING object_manager.py:1238] Could not find object objaartifact_3d4e113786854a1abfd0b00d141ca9e3_1_0_7 in scene +Goal: place vintage brown leather helmet next to pink and black toy sniper rifle +[2026-05-26 22:23:13,691] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:38:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 1552 episode 0 object objaaviatorhelmet_1c5917c1e9d147a984725886fc917ea7_1_0_9 completed with success=False +[05/26 22:38:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1552: 1 episodes +[05/26 22:38:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:38:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:38:25 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1552 +[05/26 22:38:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1552 in 2.89s (batch: 2.80s, save: 0.09s) +[05/26 22:38:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1552 +[05/26 22:38:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1552: 0/1 successful episodes +[05/26 22:38:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1667 (index 13/114) +[05/26 22:38:26 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1667 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/26 22:38:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +[05/26 22:39:18 Worker 0 WARNING object_manager.py:1238] Could not find object objamedicalmask_b52524319c70458db1c3a78f9c096afe_1_0_9 in scene +[05/26 22:39:18 Worker 0 WARNING object_manager.py:1238] Could not find object objaheadband_d49545a5b65a40bcade1370176d8950a_1_0_9 in scene +Goal: place gold and white cross medal next to light blue plastic bottle +[2026-05-26 22:40:19,583] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:40:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 22:56:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 1667 episode 0 object objamedal_4d3a363b65fc4ace9d01178a16337840_1_0_2 completed with success=False +[05/26 22:56:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1667: 1 episodes +[05/26 22:56:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:56:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:56:39 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1667 +[05/26 22:56:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1667 in 2.81s (batch: 2.73s, save: 0.09s) +[05/26 22:56:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1667 +[05/26 22:56:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1667: 0/1 successful episodes +[05/26 22:56:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1734 (index 14/114) +[05/26 22:56:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1734 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/26 22:56:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/25 [00:00 does not support tracking retries. +[05/26 22:57:02 Worker 0 WARNING object_manager.py:1238] Could not find object objamechanicalpencil_5807b5f6ebcf4dc1b731c6907b180af7_1_0_7 in scene +[05/26 22:57:02 Worker 0 WARNING object_manager.py:1238] Could not find object bowl_ab2df3cd7ba6e36f1f725f462a622119_1_0_7 in scene +Goal: place dark gray matte bowl with ridges next to glossy yellow vase rounded +[2026-05-26 22:58:04,638] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:58:39 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 23:10:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 1734 episode 0 object bowl_847a24bfa9d8b1a1f26661ebbb850f56_1_0_4 completed with success=False +[05/26 23:10:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1734: 1 episodes +[05/26 23:10:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:10:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:10:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1734 +[05/26 23:10:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1734 in 2.25s (batch: 2.16s, save: 0.09s) +[05/26 23:10:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1734 +[05/26 23:10:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1734: 0/1 successful episodes +[05/26 23:10:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1793 (index 15/114) +[05/26 23:10:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1793 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/26 23:10:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/53 [00:00 does not support tracking retries. +[05/26 23:10:30 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturelighthouse_3b5644ae7c3544088d92af4f43b3fb9a_1_0_5 in scene +[05/26 23:10:30 Worker 0 WARNING object_manager.py:1238] Could not find object objatissuebox_65d3d9a616c544f2b57f91c23ce4d68b_1_0_6 in scene +Goal: place irregular pale off-white rawhide piece next to miniature tall column with golden statue +[2026-05-26 23:11:32,653] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:12:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 23:27:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 1793 episode 0 object objarawhide_45af38b66555426a8c719a7507a35930_1_0_2 completed with success=False +[05/26 23:27:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1793: 1 episodes +[05/26 23:27:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:27:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:27:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1793 +[05/26 23:27:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1793 in 2.29s (batch: 2.19s, save: 0.09s) +[05/26 23:27:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1793 +[05/26 23:27:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1793: 0/1 successful episodes +[05/26 23:27:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1916 (index 16/114) +[05/26 23:27:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1916 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/26 23:27:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/58 [00:00 does not support tracking retries. +[05/26 23:27:12 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativekey_026dfb57bcb5406688a7b20dfbecc6c2_1_0_5 in scene +Goal: place blue pcb next to soft orange plaid pillow cushion +[2026-05-26 23:28:14,249] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:36:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 1916 episode 0 object objaprintedcircuitboard_0c1eb50df8de4c2d9d4d694014204d86_2_0_3 completed with success=False +[05/26 23:36:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1916: 1 episodes +[05/26 23:36:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:36:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:36:41 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1916 +[05/26 23:36:41 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1916 in 2.27s (batch: 2.18s, save: 0.09s) +[05/26 23:36:42 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1916 +[05/26 23:36:42 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1916: 0/1 successful episodes +[05/26 23:36:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2025 (index 17/114) +[05/26 23:36:42 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2025 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/26 23:36:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +Goal: place tall cream colored candle next to green plastic spray bottle with nozzle +[2026-05-26 23:39:26,423] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:39:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 23:47:53 Worker 0 INFO pipeline.py:1114] Worker 0 house 2025 episode 0 object objacandle_5db8644a217c4525a89b5d6bc42265e9_1_0_5 completed with success=False +[05/26 23:47:56 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2025: 1 episodes +[05/26 23:47:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:47:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:47:59 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2025 +[05/26 23:47:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2025 in 2.25s (batch: 2.16s, save: 0.09s) +[05/26 23:47:59 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2025 +[05/26 23:47:59 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2025: 0/1 successful episodes +[05/26 23:47:59 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2094 (index 18/114) +[05/26 23:47:59 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2094 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/26 23:47:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/62 [00:00 does not support tracking retries. +[05/26 23:49:02 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +Goal: place ancient greek black cup next to rectangular yellow plaid pillow +[2026-05-26 23:50:04,980] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:55:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 2094 episode 0 object objakylix_d9cc347595664f83bc1461c857756452_1_0_8 completed with success=True +[05/26 23:55:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2094: 1 episodes +[05/26 23:55:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 171 timesteps +[05/26 23:55:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:55:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2094 +[05/26 23:55:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2094 in 2.06s (batch: 2.01s, save: 0.05s) +[05/26 23:55:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2094 +[05/26 23:55:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2094: 1/1 successful episodes +[05/26 23:55:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2201 (index 19/114) +[05/26 23:55:35 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2201 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/26 23:55:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +Goal: place black grenade with red panels next to sharp black knife +[2026-05-27 00:03:21,517] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:09:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 2201 episode 0 object objagrenade_2fade8f2122d4af5b473cc42ddcb1319_1_0_2 completed with success=False +[05/27 00:09:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2201: 1 episodes +[05/27 00:09:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:09:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:09:57 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2201 +[05/27 00:09:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2201 in 2.73s (batch: 2.64s, save: 0.09s) +[05/27 00:09:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2201 +[05/27 00:09:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2201: 0/1 successful episodes +[05/27 00:09:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2331 (index 20/114) +[05/27 00:09:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2331 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 00:09:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/9 [00:00 does not support tracking retries. +Goal: place colorful ceramic decorative bowl next to black fish with fins +[2026-05-27 00:11:25,343] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:12:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:16:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 2331 episode 0 object objadecorativebowl_906fdc79f5d84e8e8b3b467e794a8c00_1_0_2 completed with success=False +[05/27 00:16:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2331: 1 episodes +[05/27 00:16:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:16:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:16:54 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2331 +[05/27 00:16:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2331 in 2.88s (batch: 2.79s, save: 0.09s) +[05/27 00:16:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2331 +[05/27 00:16:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2331: 0/1 successful episodes +[05/27 00:16:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2434 (index 21/114) +[05/27 00:16:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2434 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 00:16:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/56 [00:00 does not support tracking retries. +[05/27 00:17:23 Worker 0 WARNING object_manager.py:1238] Could not find object objascifiprop_5026a368dea643a38510c9c0556c8160_1_0_8 in scene +[05/27 00:17:23 Worker 0 WARNING object_manager.py:1238] Could not find object objaportableradio_4ce29893e26c4f9f9495708b6962f965_1_0_8 in scene +Goal: place compact camouflage weapon sight with reticle next to muscular dark glossy statue standing +[2026-05-27 00:18:25,433] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:18:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:36:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 2434 episode 0 object objaweaponsight_a7323938c943423a8a7adb8656b0168f_1_0_6 completed with success=False +[05/27 00:36:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2434: 1 episodes +[05/27 00:36:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:36:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:36:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2434 +[05/27 00:36:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2434 in 2.21s (batch: 2.12s, save: 0.09s) +[05/27 00:36:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2434 +[05/27 00:36:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2434: 0/1 successful episodes +[05/27 00:36:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2490 (index 22/114) +[05/27 00:36:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2490 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 00:36:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +[05/27 00:36:16 Worker 0 WARNING object_manager.py:1238] Could not find object objamountingbracket_3bdbefaa473e4bf5bf06a095689d00cb_1_0_2 in scene +Goal: place red lava spike next to houseplant +[2026-05-27 00:37:17,409] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:37:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:53:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 2490 episode 0 object objadecorativespike_0b7f50f543a24b84939dcb9a12754534_1_0_2 completed with success=False +[05/27 00:53:04 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2490: 1 episodes +[05/27 00:53:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:53:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:53:07 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2490 +[05/27 00:53:07 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2490 in 2.83s (batch: 2.74s, save: 0.09s) +[05/27 00:53:08 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2490 +[05/27 00:53:08 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2490: 0/1 successful episodes +[05/27 00:53:08 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2599 (index 23/114) +[05/27 00:53:08 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2599 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 00:53:08 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +[05/27 00:54:00 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturelighthouse_bde6dcab0a89413eba4422da59f19cef_1_0_5 in scene +[05/27 00:54:00 Worker 0 WARNING object_manager.py:1238] Could not find object objalighter_50b6e50751754a0d9c0fa8c6f950289b_1_0_5 in scene +Goal: place sleek dark rectangular phone next to golden brown loaf of bread +[2026-05-27 00:55:03,609] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:10:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 2599 episode 0 object cellulartelephone_43b2396be97b1322a94e498589888114_1_0_8 completed with success=False +[05/27 01:10:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2599: 1 episodes +[05/27 01:10:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:10:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:10:20 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2599 +[05/27 01:10:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2599 in 2.20s (batch: 2.11s, save: 0.09s) +[05/27 01:10:20 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2599 +[05/27 01:10:20 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2599: 0/1 successful episodes +[05/27 01:10:20 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2724 (index 24/114) +[05/27 01:10:20 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2724 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 01:10:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 does not support tracking retries. +[05/27 01:11:16 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_7 in scene +Goal: place blue disc with white airplane icon next to explosive device +[2026-05-27 01:12:18,968] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:27:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 2724 episode 0 object objadecorativedisc_26490714f2394b508764726a9341aefe_1_0_9 completed with success=False +[05/27 01:27:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2724: 1 episodes +[05/27 01:27:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:27:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:27:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2724 +[05/27 01:27:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2724 in 2.31s (batch: 2.22s, save: 0.09s) +[05/27 01:27:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2724 +[05/27 01:27:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2724: 0/1 successful episodes +[05/27 01:27:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2834 (index 25/114) +[05/27 01:27:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2834 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 01:27:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/27 01:27:32 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeplasterpanel_b1111ed6a740470da8d83ecd132ed6ec_1_0_5 in scene +[05/27 01:27:32 Worker 0 WARNING object_manager.py:1238] Could not find object fabric_8b382fcf75cb442de8954844ebbb6318_1_0_5 in scene +[05/27 01:27:32 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_8c6e5265f19b49709119c2628c2bdf3f_1_0_9 in scene +[05/27 01:27:32 Worker 0 WARNING object_manager.py:1238] Could not find object objaheadband_d49545a5b65a40bcade1370176d8950a_1_0_9 in scene +Goal: place black chef knife next to glossy green cup with flared rim +[2026-05-27 01:28:37,469] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:29:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 01:47:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 2834 episode 0 object objachefsknife_1e7b5d7445884162b4154bd80e587baf_1_0_2 completed with success=False +[05/27 01:47:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2834: 1 episodes +[05/27 01:47:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:47:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:47:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2834 +[05/27 01:47:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2834 in 2.29s (batch: 2.20s, save: 0.09s) +[05/27 01:47:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2834 +[05/27 01:47:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2834: 0/1 successful episodes +[05/27 01:47:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2892 (index 26/114) +[05/27 01:47:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2892 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 01:47:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/26 [00:00 does not support tracking retries. +[05/27 01:48:34 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativemap_953f774954d249b38943e1c8542db499_2_0_4 in scene +[05/27 01:48:34 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingpanel_8bde878be8dd4fb7b6914db9c4dd31bb_1_0_4 in scene +Goal: place adhesivetape next to soapdispenser +[2026-05-27 01:49:37,469] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:50:10 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 02:00:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 2892 episode 0 object objaadhesivetape_a579c57c161d4e4babf9761d601ddd2c_1_0_6 completed with success=False +[05/27 02:00:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2892: 1 episodes +[05/27 02:00:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:00:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:00:45 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2892 +[05/27 02:00:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2892 in 2.84s (batch: 2.75s, save: 0.09s) +[05/27 02:00:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2892 +[05/27 02:00:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2892: 0/1 successful episodes +[05/27 02:00:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3019 (index 27/114) +[05/27 02:00:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3019 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 02:00:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/27 02:00:51 Worker 0 WARNING object_manager.py:1238] Could not find object objaexternalharddrive_f8de4975c0f54c1a97203c6a674f6a39_1_0_5 in scene +[05/27 02:00:51 Worker 0 WARNING object_manager.py:1238] Could not find object fabric_8b382fcf75cb442de8954844ebbb6318_1_0_5 in scene +Goal: place handheld mirror next to decorative bird +[2026-05-27 02:01:57,408] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:16:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 3019 episode 0 object objahandheldmirror_2244842d4ea94f81aa5f222d891b60da_2_0_9 completed with success=False +[05/27 02:16:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3019: 1 episodes +[05/27 02:16:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:16:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:16:51 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3019 +[05/27 02:16:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3019 in 2.84s (batch: 2.75s, save: 0.09s) +[05/27 02:16:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3019 +[05/27 02:16:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3019: 0/1 successful episodes +[05/27 02:16:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3122 (index 28/114) +[05/27 02:16:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3122 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 02:16:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +Goal: place container next to sorbent +[2026-05-27 02:17:55,966] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:18:33 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 02:26:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 3122 episode 0 object objadispenser_dae48a392c5a4f3aa00235e664ee7d4d_1_0_3 completed with success=False +[05/27 02:26:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3122: 1 episodes +[05/27 02:26:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:26:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:26:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3122 +[05/27 02:26:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3122 in 2.27s (batch: 2.18s, save: 0.09s) +[05/27 02:26:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3122 +[05/27 02:26:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3122: 0/1 successful episodes +[05/27 02:26:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3224 (index 29/114) +[05/27 02:26:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3224 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 02:26:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +Goal: place blue metal clamp next to cassette recorder +[2026-05-27 02:27:34,266] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:28:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 02:43:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 3224 episode 0 object objabarclamp_cb6dfd3688694664b9fadfe4556882d1_1_0_4 completed with success=False +[05/27 02:43:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3224: 1 episodes +[05/27 02:43:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:43:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:43:45 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3224 +[05/27 02:43:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3224 in 2.28s (batch: 2.19s, save: 0.09s) +[05/27 02:43:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3224 +[05/27 02:43:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3224: 0/1 successful episodes +[05/27 02:43:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3273 (index 30/114) +[05/27 02:43:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3273 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 02:43:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/25 [00:00 does not support tracking retries. +Goal: place solid food next to classic blue and white camper van +[2026-05-27 02:44:53,506] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:45:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 02:53:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 3273 episode 0 object Irishpotato_19522f313a33f0a662dcc0b1aa19547c_1_0_6 completed with success=False +[05/27 02:54:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3273: 1 episodes +[05/27 02:54:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:54:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:54:06 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3273 +[05/27 02:54:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3273 in 2.78s (batch: 2.70s, save: 0.09s) +[05/27 02:54:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3273 +[05/27 02:54:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3273: 0/1 successful episodes +[05/27 02:54:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3346 (index 31/114) +[05/27 02:54:07 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3346 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 02:54:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +Goal: place blue clock next to rustic ceramic bowl with handles +[2026-05-27 02:55:23,901] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:56:03 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 03:07:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 3346 episode 0 object alarmclock_7e1337b32a9e0d9439bef16e80df0de2_1_0_6 completed with success=False +[05/27 03:07:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3346: 1 episodes +[05/27 03:07:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:07:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:07:52 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3346 +[05/27 03:07:52 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3346 in 2.80s (batch: 2.71s, save: 0.09s) +[05/27 03:07:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3346 +[05/27 03:07:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3346: 0/1 successful episodes +[05/27 03:07:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3409 (index 32/114) +[05/27 03:07:53 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3409 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 03:07:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/34 [00:00 does not support tracking retries. +Goal: place beige sponge next to white spine thin book +[2026-05-27 03:09:01,752] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:09:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 03:22:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 3409 episode 0 object objasponge_f21d15e2964648989a80c23bfa0b932c_1_0_2 completed with success=False +[05/27 03:22:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3409: 1 episodes +[05/27 03:22:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:22:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:22:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3409 +[05/27 03:22:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3409 in 2.21s (batch: 2.12s, save: 0.10s) +[05/27 03:22:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3409 +[05/27 03:22:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3409: 0/1 successful episodes +[05/27 03:22:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3500 (index 33/114) +[05/27 03:22:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3500 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 03:22:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +[05/27 03:22:37 Worker 0 WARNING object_manager.py:1238] Could not find object pillow_c434ce940f1b4c2d2b3652e7c1fc3eba_1_0_7 in scene +[05/27 03:22:37 Worker 0 WARNING object_manager.py:1238] Could not find object objaspring_3071830f2d3e4b57a59976719298c808_1_0_7 in scene +Goal: place black and yellow handheld radio next to gray sculpture with textured indentations +[2026-05-27 03:23:40,576] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:41:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 3500 episode 0 object objahandheldradio_5e2b1233523f47adbe3e9e894568f0d2_1_0_4 completed with success=False +[05/27 03:41:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3500: 1 episodes +[05/27 03:41:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:41:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:41:28 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3500 +[05/27 03:41:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3500 in 2.87s (batch: 2.76s, save: 0.11s) +[05/27 03:41:28 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3500 +[05/27 03:41:28 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3500: 0/1 successful episodes +[05/27 03:41:28 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3577 (index 34/114) +[05/27 03:41:28 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3577 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 03:41:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/64 [00:00 does not support tracking retries. +Goal: place compact black rail mount with slots next to simple light brown ceramic bowl +[2026-05-27 03:42:49,752] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:01:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 3577 episode 0 object objarailmount_221ab95129a74da18fbab9b1e15d77f3_1_0_4 completed with success=False +[05/27 04:01:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3577: 1 episodes +[05/27 04:01:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:01:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:01:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3577 +[05/27 04:01:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3577 in 2.82s (batch: 2.73s, save: 0.09s) +[05/27 04:01:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3577 +[05/27 04:01:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3577: 0/1 successful episodes +[05/27 04:01:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3677 (index 35/114) +[05/27 04:01:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3677 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 04:01:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +Goal: place red pot next to lettuce +[2026-05-27 04:03:03,501] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:13:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 3677 episode 0 object objacookingpot_491cd880ee9949758492015247cd04da_1_0_6 completed with success=False +[05/27 04:13:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3677: 1 episodes +[05/27 04:13:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:13:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:13:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3677 +[05/27 04:13:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3677 in 2.25s (batch: 2.16s, save: 0.09s) +[05/27 04:13:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3677 +[05/27 04:13:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3677: 0/1 successful episodes +[05/27 04:13:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3749 (index 36/114) +[05/27 04:13:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3749 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 04:13:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +[05/27 04:13:43 Worker 0 WARNING object_manager.py:1238] Could not find object objacleaningsponge_f173c4e92f854efe86fa939466e08e4b_1_0_5 in scene +Goal: place decorativescript next to vegetable +[2026-05-27 04:14:46,990] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:15:23 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:30:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 3749 episode 0 object objadecorativescript_698f49c7bedb4fc3a5777a9f4edcc5bc_2_0_2 completed with success=False +[05/27 04:30:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3749: 1 episodes +[05/27 04:30:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:30:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:30:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3749 +[05/27 04:30:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3749 in 2.23s (batch: 2.13s, save: 0.10s) +[05/27 04:30:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3749 +[05/27 04:30:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3749: 0/1 successful episodes +[05/27 04:30:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3816 (index 37/114) +[05/27 04:30:19 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 3816 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 04:30:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +Goal: place dark wrench tool with hexagonal opening next to smooth brown egg +[2026-05-27 04:31:28,556] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:32:08 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:33:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 3816 episode 0 object objawrench_430ce447c62b42229f6b229f9f21890b_1_0_8 completed with success=False +[05/27 04:33:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +Goal: place green and black pliers next to small grassy patch with dirt +[2026-05-27 04:34:52,477] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:35:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:50:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 3816 episode 1 object objapliers_5a293649f3f64061accc9afdb4008c25_1_0_4 completed with success=False +[05/27 04:50:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3816: 2 episodes +[05/27 04:50:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:50:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:50:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:50:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:50:37 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3816 +[05/27 04:50:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3816 in 4.56s (batch: 4.38s, save: 0.18s) +[05/27 04:50:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3816 +[05/27 04:50:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3816: 0/2 successful episodes +[05/27 04:50:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3871 (index 38/114) +[05/27 04:50:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3871 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 04:50:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +[05/27 04:50:42 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativecandle_0c791ace8deb4316bd377aa7fb553517_1_0_5 in scene +[05/27 04:50:42 Worker 0 WARNING object_manager.py:1238] Could not find object objacollar_5f329a75ab1a4890868ba37061ca3396_1_0_5 in scene +Goal: place round soft fuzzy peach next to red toy rocket with fins +[2026-05-27 04:51:45,684] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:03:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 3871 episode 0 object objafruit_bb7f4908308d4ba5bce1b07d4d730904_1_0_8 completed with success=False +[05/27 05:03:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3871: 1 episodes +[05/27 05:03:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:03:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:03:45 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3871 +[05/27 05:03:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3871 in 2.33s (batch: 2.24s, save: 0.09s) +[05/27 05:03:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3871 +[05/27 05:03:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3871: 0/1 successful episodes +[05/27 05:03:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3993 (index 39/114) +[05/27 05:03:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3993 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 05:03:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[05/27 05:03:50 Worker 0 WARNING object_manager.py:1238] Could not find object objagardenfork_ce1900ce820a4a419d376d1532e85bcf_1_0_4 in scene +[05/27 05:03:50 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturebuilding_1954e7fb9f324e26973b1d34f5358040_1_0_7 in scene +[05/27 05:03:50 Worker 0 WARNING object_manager.py:1238] Could not find object objalighter_a2db21b57424449f9a2d1aa08e5b0c90_1_0_7 in scene +Goal: place green alien bust next to brown bread +[2026-05-27 05:04:54,178] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:05:34 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 05:18:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 3993 episode 0 object objaalienbust_1f2fa3f8b4ed4ffb8ad3b95d404b1a55_1_0_8 completed with success=False +[05/27 05:18:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3993: 1 episodes +[05/27 05:18:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:18:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:18:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3993 +[05/27 05:18:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3993 in 2.18s (batch: 2.09s, save: 0.09s) +[05/27 05:18:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3993 +[05/27 05:18:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3993: 0/1 successful episodes +[05/27 05:18:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4079 (index 40/114) +[05/27 05:18:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4079 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 05:18:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +Goal: place butterfly knife with colorful gradient blade next to bulbous shiny gold metallic vase +[2026-05-27 05:19:45,752] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:39:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 4079 episode 0 object objabutterflyknife_be05554b77de495ea5e92d3bcb7730fa_1_0_8 completed with success=False +[05/27 05:39:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4079: 1 episodes +[05/27 05:39:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:39:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:39:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4079 +[05/27 05:39:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4079 in 2.36s (batch: 2.27s, save: 0.10s) +[05/27 05:39:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4079 +[05/27 05:39:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4079: 0/1 successful episodes +[05/27 05:39:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4191 (index 41/114) +[05/27 05:39:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4191 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 05:39:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +Goal: place disposable coffee cup next to gray hand statue +[2026-05-27 05:40:38,330] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:41:14 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 05:50:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 4191 episode 0 object objadisposablecoffeecup_b74978f41afd40b4825b1d99478a4d68_3_0_6 completed with success=False +[05/27 05:50:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4191: 1 episodes +[05/27 05:50:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:50:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:50:47 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4191 +[05/27 05:50:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4191 in 2.85s (batch: 2.76s, save: 0.09s) +[05/27 05:50:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4191 +[05/27 05:50:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4191: 0/1 successful episodes +[05/27 05:50:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4255 (index 42/114) +[05/27 05:50:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4255 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 05:50:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +[05/27 05:50:52 Worker 0 WARNING object_manager.py:1238] Could not find object objatooth_4ec84bfdbbec4663b9a730ef943e0768_1_0_7 in scene +[05/27 05:50:52 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativecandle_0c791ace8deb4316bd377aa7fb553517_1_0_7 in scene +Goal: place slender greenish-gray pointed stone arrowhead next to colorful red bird +[2026-05-27 05:51:55,234] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:04:53 Worker 0 INFO pipeline.py:1114] Worker 0 house 4255 episode 0 object objastonetool_98fcfd7e7d24420c832a048faa60dc8a_1_0_9 completed with success=False +[05/27 06:04:56 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4255: 1 episodes +[05/27 06:04:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:04:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:04:58 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4255 +[05/27 06:04:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4255 in 2.24s (batch: 2.15s, save: 0.09s) +[05/27 06:04:59 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4255 +[05/27 06:04:59 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4255: 0/1 successful episodes +[05/27 06:04:59 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4298 (index 43/114) +[05/27 06:04:59 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4298 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 06:04:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +Goal: place small white bird next to green hardcover book titled the effective engineer +[2026-05-27 06:06:14,402] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:06:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 06:22:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 4298 episode 0 object objadecorativebird_0aac489fda0d4e91845b6623e64db21c_1_0_6 completed with success=False +[05/27 06:22:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4298: 1 episodes +[05/27 06:22:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:22:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:22:27 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4298 +[05/27 06:22:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4298 in 2.81s (batch: 2.72s, save: 0.09s) +[05/27 06:22:28 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4298 +[05/27 06:22:28 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4298: 0/1 successful episodes +[05/27 06:22:28 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4345 (index 44/114) +[05/27 06:22:28 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4345 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 06:22:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +Goal: place yellow card featuring snoopy flowers next to wooden roller with spikes and carving +[2026-05-27 06:23:42,986] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:24:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 06:38:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 4345 episode 0 object objagreetingcard_8870ef6ecfa9458b9cb383033f8f699f_1_0_4 completed with success=False +[05/27 06:38:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4345: 1 episodes +[05/27 06:38:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:38:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:38:24 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4345 +[05/27 06:38:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4345 in 3.03s (batch: 2.93s, save: 0.10s) +[05/27 06:38:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4345 +[05/27 06:38:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4345: 0/1 successful episodes +[05/27 06:38:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4439 (index 45/114) +[05/27 06:38:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4439 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 06:38:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +Goal: place rustic wooden lemon squeezer next to amber cylindrical prescription pill bottle +[2026-05-27 06:39:33,531] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:49:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 4439 episode 0 object objalemonsqueezer_5679cddc744c4f39b731890788405de6_1_0_6 completed with success=False +[05/27 06:49:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4439: 1 episodes +[05/27 06:49:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:50:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:50:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4439 +[05/27 06:50:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4439 in 2.96s (batch: 2.87s, save: 0.09s) +[05/27 06:50:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4439 +[05/27 06:50:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4439: 0/1 successful episodes +[05/27 06:50:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4514 (index 46/114) +[05/27 06:50:03 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4514 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 06:50:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/27 [00:00 does not support tracking retries. +Goal: place cutter next to simple light brown ceramic bowl +[2026-05-27 06:51:16,605] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:51:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 07:02:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 4514 episode 0 object objaknife_c043b12ebc1b41c8813036247e6b2f54_1_0_6 completed with success=False +[05/27 07:02:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4514: 1 episodes +[05/27 07:02:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:02:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:02:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4514 +[05/27 07:02:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4514 in 2.30s (batch: 2.20s, save: 0.10s) +[05/27 07:02:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4514 +[05/27 07:02:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4514: 0/1 successful episodes +[05/27 07:02:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4636 (index 47/114) +[05/27 07:02:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4636 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 07:02:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/53 [00:00 does not support tracking retries. +[05/27 07:02:28 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +Goal: place teal cordless angle grinder tool next to black wall hook with red accent +[2026-05-27 07:03:30,960] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:18:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 4636 episode 0 object objaanglegrinder_a49df09b961d426d8ae7fbba02feb228_1_0_3 completed with success=False +[05/27 07:18:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4636: 1 episodes +[05/27 07:18:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:18:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:18:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4636 +[05/27 07:18:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4636 in 2.20s (batch: 2.11s, save: 0.09s) +[05/27 07:18:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4636 +[05/27 07:18:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4636: 0/1 successful episodes +[05/27 07:18:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4685 (index 48/114) +[05/27 07:18:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4685 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 07:18:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/13 [00:00 does not support tracking retries. +Goal: place light rectangular amulet with seated figure next to lifelike dark stag beetle +[2026-05-27 07:19:37,440] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:20:10 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 07:26:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 4685 episode 0 object objaamulet_ce4443cc64e94facb38150f2b6687597_1_0_2 completed with success=False +[05/27 07:26:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4685: 1 episodes +[05/27 07:26:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:26:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:26:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4685 +[05/27 07:26:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4685 in 2.26s (batch: 2.17s, save: 0.09s) +[05/27 07:26:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4685 +[05/27 07:26:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4685: 0/1 successful episodes +[05/27 07:26:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4696 (index 49/114) +[05/27 07:26:30 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4696 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 07:26:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/10 [00:00 does not support tracking retries. +Goal: place garden truck next to blue bottle +[2026-05-27 07:27:34,960] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:28:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 07:33:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 4696 episode 0 object objacucumber_2f0743a1d27345269d1444a8becfce59_1_0_2 completed with success=False +[05/27 07:33:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/10 [00:00 does not support tracking retries. +Goal: place compact camouflage tactical pouch with buckle next to small shiny gold dog statue +[2026-05-27 07:34:39,505] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:35:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 07:40:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 4696 episode 1 object objatacticalpouch_4d76d1d1fc934a0cbccddd28103b2657_1_0_2 completed with success=False +[05/27 07:40:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4696: 2 episodes +[05/27 07:40:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:40:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:40:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:40:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:40:55 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4696 +[05/27 07:40:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4696 in 4.39s (batch: 4.23s, save: 0.17s) +[05/27 07:40:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4696 +[05/27 07:40:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4696: 0/2 successful episodes +[05/27 07:40:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4731 (index 50/114) +[05/27 07:40:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4731 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 07:40:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +Goal: place yellow candle with white wax top next to black rugged tablet with touchscreen buttons +[2026-05-27 07:42:09,951] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:42:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 07:56:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 4731 episode 0 object objadecorativecandle_7aaf40cda216463d956737baa002efa7_1_0_4 completed with success=False +[05/27 07:56:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4731: 1 episodes +[05/27 07:56:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:56:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:56:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4731 +[05/27 07:56:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4731 in 2.89s (batch: 2.80s, save: 0.09s) +[05/27 07:56:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4731 +[05/27 07:56:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4731: 0/1 successful episodes +[05/27 07:56:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4821 (index 51/114) +[05/27 07:56:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4821 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 07:56:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +[05/27 07:56:40 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeemblem_944ac46de4714840942d4a907eef5ef6_1_0_7 in scene +[05/27 07:56:40 Worker 0 WARNING object_manager.py:1238] Could not find object candle_fe12fa900f50b1f2dcab659cebcf492b_1_0_7 in scene +Goal: place slender smooth beige animal horn next to soapdispenser +[2026-05-27 07:57:46,522] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:58:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 07:59:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 4821 episode 0 object objadecorativehorn_20097ccba5444c968beff4890ecd2402_1_0_8 completed with success=True +[05/27 07:59:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4821: 1 episodes +[05/27 07:59:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 274 timesteps +[05/27 07:59:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:59:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4821 +[05/27 07:59:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4821 in 2.11s (batch: 2.05s, save: 0.06s) +[05/27 07:59:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4821 +[05/27 07:59:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4821: 1/1 successful episodes +[05/27 07:59:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4917 (index 52/114) +[05/27 07:59:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4917 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 07:59:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +Goal: place whimsical chicken figure in costume next to small green house plant +[2026-05-27 08:00:34,137] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:15:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 4917 episode 0 object objacostumefigure_0bd37fcf74214be0b2e0b8d1b4105aea_1_0_9 completed with success=False +[05/27 08:15:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4917: 1 episodes +[05/27 08:15:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:15:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:15:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4917 +[05/27 08:15:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4917 in 2.20s (batch: 2.11s, save: 0.09s) +[05/27 08:15:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4917 +[05/27 08:15:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4917: 0/1 successful episodes +[05/27 08:15:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4999 (index 53/114) +[05/27 08:15:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4999 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 08:15:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/27 08:15:43 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativepanel_a17676f45b3d483c9dc1910a2eb17269_1_0_8 in scene +[05/27 08:15:43 Worker 0 WARNING object_manager.py:1238] Could not find object objadressshoe_08158fa3333a4b288bd2746a6ba6f9e5_1_0_9 in scene +[05/27 08:15:43 Worker 0 WARNING object_manager.py:1238] Could not find object objamarbleslab_7d540d7b25af4e41a58eaeb5037f88a9_1_0_9 in scene +Goal: place handbell with wooden handle and brass next to adjustable metal wrench with handle +[2026-05-27 08:16:45,309] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:34:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 4999 episode 0 object objahandbell_2ad2c9631a83455c9ec767a404d018df_1_0_3 completed with success=False +[05/27 08:34:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4999: 1 episodes +[05/27 08:34:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:34:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:34:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4999 +[05/27 08:34:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4999 in 2.86s (batch: 2.77s, save: 0.09s) +[05/27 08:34:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4999 +[05/27 08:34:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4999: 0/1 successful episodes +[05/27 08:34:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5103 (index 54/114) +[05/27 08:34:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5103 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 08:34:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +Goal: place rustic wooden mug with handle next to red envelope with triangular gray flap +[2026-05-27 08:36:03,665] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:50:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 5103 episode 0 object objamug_8529afb010814c188970381c3596afef_1_0_8 completed with success=False +[05/27 08:50:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5103: 1 episodes +[05/27 08:50:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:50:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:50:08 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5103 +[05/27 08:50:08 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5103 in 2.83s (batch: 2.74s, save: 0.09s) +[05/27 08:50:08 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5103 +[05/27 08:50:08 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5103: 0/1 successful episodes +[05/27 08:50:08 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5181 (index 55/114) +[05/27 08:50:08 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5181 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 08:50:08 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +Goal: place red strawberry with green leaves next to yellow white package with curry +[2026-05-27 08:51:23,826] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:51:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 09:00:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 5181 episode 0 object objadecorativefruit_963a56c7201143eba6bbcdf2ad60c1c3_1_0_6 completed with success=False +[05/27 09:00:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5181: 1 episodes +[05/27 09:00:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:00:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:00:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5181 +[05/27 09:00:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5181 in 2.77s (batch: 2.68s, save: 0.09s) +[05/27 09:00:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5181 +[05/27 09:00:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5181: 0/1 successful episodes +[05/27 09:00:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5248 (index 56/114) +[05/27 09:00:19 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5248 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 09:00:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +[05/27 09:00:32 Worker 0 WARNING object_manager.py:1238] Could not find object objasteeringwheel_0b77970f7f984ce8ac5c0a03ed1fa1a8_1_0_5 in scene +[05/27 09:00:32 Worker 0 WARNING object_manager.py:1238] Could not find object objamosaicfragment_780cc0fe43954935b548b72e5c9e129d_1_0_5 in scene +Goal: place classic razor with wooden handle next to glossy green arrowhead shaped leaf +[2026-05-27 09:01:34,677] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:02:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 09:16:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 5248 episode 0 object objastraightrazor_2d90a466a23f497f819a01e888edcb0a_2_0_8 completed with success=False +[05/27 09:16:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5248: 1 episodes +[05/27 09:16:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:16:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:16:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5248 +[05/27 09:16:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5248 in 2.24s (batch: 2.15s, save: 0.09s) +[05/27 09:16:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5248 +[05/27 09:16:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5248: 0/1 successful episodes +[05/27 09:16:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5418 (index 57/114) +[05/27 09:16:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5418 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 09:16:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/10 [00:00 does not support tracking retries. +Goal: place mosaic fragment next to white toilet paper roll +[2026-05-27 09:17:37,030] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:19:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 5418 episode 0 object objamosaicfragment_780cc0fe43954935b548b72e5c9e129d_1_0_2 completed with success=True +[05/27 09:19:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5418: 1 episodes +[05/27 09:19:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 114 timesteps +[05/27 09:19:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:19:25 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5418 +[05/27 09:19:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5418 in 2.61s (batch: 2.57s, save: 0.04s) +[05/27 09:19:25 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5418 +[05/27 09:19:25 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5418: 1/1 successful episodes +[05/27 09:19:25 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5507 (index 58/114) +[05/27 09:19:25 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5507 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 09:19:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/10 [00:00 does not support tracking retries. +Goal: place gold headphones with red padding next to green smartphone with black touchscreen +[2026-05-27 09:20:40,040] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:23:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 5507 episode 0 object objaheadphones_298b981b427947188a1b361bf65a2c98_1_0_2 completed with success=True +[05/27 09:23:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5507: 1 episodes +[05/27 09:23:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 170 timesteps +[05/27 09:23:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:23:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5507 +[05/27 09:23:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5507 in 2.06s (batch: 2.01s, save: 0.05s) +[05/27 09:23:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5507 +[05/27 09:23:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5507: 1/1 successful episodes +[05/27 09:23:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5578 (index 59/114) +[05/27 09:23:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5578 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 09:23:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +Goal: place textured red pomegranate next to fresh green lettuce +[2026-05-27 09:24:34,809] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:33:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 5578 episode 0 object objapomegranate_af8ba5fe1b2744c1a70092eb44932a16_1_0_6 completed with success=False +[05/27 09:33:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5578: 1 episodes +[05/27 09:33:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:33:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:33:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5578 +[05/27 09:33:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5578 in 2.89s (batch: 2.80s, save: 0.09s) +[05/27 09:33:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5578 +[05/27 09:33:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5578: 0/1 successful episodes +[05/27 09:33:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5632 (index 60/114) +[05/27 09:33:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5632 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 09:33:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +Goal: place white saturn v rocket with markings next to orange plaid pillow cushion +[2026-05-27 09:35:05,037] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:35:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 09:39:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 5632 episode 0 object objamodelrocket_782d80395e25463a815a92e883c86c02_1_0_9 completed with success=False +[05/27 09:39:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5632: 1 episodes +[05/27 09:39:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:39:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:39:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5632 +[05/27 09:39:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5632 in 2.86s (batch: 2.77s, save: 0.09s) +[05/27 09:39:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5632 +[05/27 09:39:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5632: 0/1 successful episodes +[05/27 09:39:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5708 (index 61/114) +[05/27 09:39:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5708 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 09:39:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/53 [00:00 does not support tracking retries. +[05/27 09:40:07 Worker 0 WARNING object_manager.py:1238] Could not find object objacoil_c4fcd63753e740aa9efac5edfe7a7506_1_0_9 in scene +[05/27 09:40:07 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeaccessory_e47911ac361a45c3b6c7f2f1d9071876_1_0_9 in scene +Goal: place amber cylindrical prescription pill bottle next to foodstuff +[2026-05-27 09:41:11,603] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:00:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 5708 episode 0 object objapillbottle_7339a87dac884f1e8aeed3bf80dc0a5f_1_0_2 completed with success=False +[05/27 10:00:46 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5708: 1 episodes +[05/27 10:00:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:00:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:00:48 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5708 +[05/27 10:00:48 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5708 in 2.30s (batch: 2.21s, save: 0.09s) +[05/27 10:00:49 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5708 +[05/27 10:00:49 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5708: 0/1 successful episodes +[05/27 10:00:49 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5836 (index 62/114) +[05/27 10:00:49 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5836 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 10:00:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +[05/27 10:00:58 Worker 0 WARNING object_manager.py:1238] Could not find object objaheadband_d49545a5b65a40bcade1370176d8950a_1_0_5 in scene +[05/27 10:00:58 Worker 0 WARNING object_manager.py:1238] Could not find object objadentures_4fc005a4bb9f4ed49ad3b5255e87e720_1_0_5 in scene +Goal: place dark metal hinge with pivot next to dark muscular statue standing dynamically +[2026-05-27 10:02:02,332] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:02:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 10:13:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 5836 episode 0 object objahinge_d443380245cb4898bc96b341d37bcd43_1_0_7 completed with success=False +[05/27 10:13:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5836: 1 episodes +[05/27 10:13:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:13:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:13:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5836 +[05/27 10:13:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5836 in 2.26s (batch: 2.16s, save: 0.09s) +[05/27 10:13:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5836 +[05/27 10:13:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5836: 0/1 successful episodes +[05/27 10:13:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5907 (index 63/114) +[05/27 10:13:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5907 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 10:13:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 does not support tracking retries. +[05/27 10:13:40 Worker 0 WARNING object_manager.py:1238] Could not find object objaspraycan_f761c777f54e414dba0b54dbab6453c7_1_0_5 in scene +Goal: place serene stone statue with patterned robe next to silver bullet with red band tip +[2026-05-27 10:14:43,876] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:15:16 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 10:30:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 5907 episode 0 object objastatue_a8e9e70f3ca14aa7a21b3e9ac2eacbd9_1_0_4 completed with success=False +[05/27 10:30:58 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5907: 1 episodes +[05/27 10:30:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:31:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:31:00 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5907 +[05/27 10:31:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5907 in 2.26s (batch: 2.14s, save: 0.12s) +[05/27 10:31:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5907 +[05/27 10:31:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5907: 0/1 successful episodes +[05/27 10:31:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5980 (index 64/114) +[05/27 10:31:00 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5980 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 10:31:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +[05/27 10:31:23 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturelighthouse_bde6dcab0a89413eba4422da59f19cef_1_0_5 in scene +Goal: place hand axe next to slim pink cellphone with buttons +[2026-05-27 10:32:27,068] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:33:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 10:47:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 5980 episode 0 object objahandaxe_b0b87362f235438dbd703daa13551696_1_0_2 completed with success=False +[05/27 10:47:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5980: 1 episodes +[05/27 10:47:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:47:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:47:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5980 +[05/27 10:47:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5980 in 2.98s (batch: 2.89s, save: 0.09s) +[05/27 10:47:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5980 +[05/27 10:47:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5980: 0/1 successful episodes +[05/27 10:47:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6083 (index 65/114) +[05/27 10:47:30 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6083 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 10:47:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +Goal: place gray stone next to detailed red and white race car +[2026-05-27 10:48:49,956] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:49:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 11:00:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 6083 episode 0 object objastoneartifact_fc6cadc870a841cc8edb35bc21f9a004_1_0_7 completed with success=False +[05/27 11:00:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6083: 1 episodes +[05/27 11:00:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:00:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:00:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6083 +[05/27 11:00:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6083 in 2.93s (batch: 2.83s, save: 0.09s) +[05/27 11:00:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6083 +[05/27 11:00:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6083: 0/1 successful episodes +[05/27 11:00:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6153 (index 66/114) +[05/27 11:00:30 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6153 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 11:00:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/6 [00:00 does not support tracking retries. +Goal: place soapdispenser next to spray +[2026-05-27 11:01:41,743] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:02:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 11:07:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 6153 episode 0 object soapdispenser_4d425f15f8385d9b5381f2b606372c15_1_0_2 completed with success=False +[05/27 11:07:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6153: 1 episodes +[05/27 11:07:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:07:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:07:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6153 +[05/27 11:07:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6153 in 2.99s (batch: 2.90s, save: 0.09s) +[05/27 11:07:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6153 +[05/27 11:07:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6153: 0/1 successful episodes +[05/27 11:07:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6240 (index 67/114) +[05/27 11:07:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6240 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 11:07:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +[05/27 11:08:14 Worker 0 WARNING object_manager.py:1238] Could not find object objasportsshoe_6b4506025d2e4c38bf943c377e53a82b_1_0_3 in scene +[05/27 11:08:14 Worker 0 WARNING object_manager.py:1238] Could not find object objapocketwatch_1dbb7462a3e04e918023f6fec7743ee2_1_0_3 in scene +Goal: place rusty spray paint can with blue next to blue bomb with white skull emblem +[2026-05-27 11:09:17,466] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:22:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 6240 episode 0 object objaspraypaintcan_9e725e49c0074fc0a1a08cacc85ee898_1_0_6 completed with success=False +[05/27 11:22:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6240: 1 episodes +[05/27 11:22:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:22:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:22:20 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6240 +[05/27 11:22:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6240 in 2.82s (batch: 2.73s, save: 0.09s) +[05/27 11:22:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6240 +[05/27 11:22:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6240: 0/1 successful episodes +[05/27 11:22:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6287 (index 68/114) +[05/27 11:22:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6287 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 11:22:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +[05/27 11:22:29 Worker 0 WARNING object_manager.py:1238] Could not find object objabenchvise_2db685641caa42d9bc57d38edeff0264_1_0_7 in scene +[05/27 11:22:29 Worker 0 WARNING object_manager.py:1238] Could not find object plate_b137b580936425a0757a2df506ec58fb_1_0_7 in scene +Goal: place black hat yellow plume next to green lenses on night vision goggles +[2026-05-27 11:23:32,218] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:24:04 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 11:34:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 6287 episode 0 object objamarchingbandhat_04ca4cc9ff7c4546a438d55c727fc557_1_0_7 completed with success=False +[05/27 11:34:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6287: 1 episodes +[05/27 11:34:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:34:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:34:25 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6287 +[05/27 11:34:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6287 in 2.83s (batch: 2.72s, save: 0.10s) +[05/27 11:34:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6287 +[05/27 11:34:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6287: 0/1 successful episodes +[05/27 11:34:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6348 (index 69/114) +[05/27 11:34:26 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6348 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 11:34:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +[05/27 11:34:48 Worker 0 WARNING object_manager.py:1238] Could not find object objatoy_7cdbd80a08da45d2af76ae9f0f00f280_1_0_4 in scene +[05/27 11:34:48 Worker 0 WARNING object_manager.py:1238] Could not find object objamoth_c776c4a1d0a447388a8808dab3817af9_1_0_4 in scene +Goal: place brown moth next to rectangular dark teal box +[2026-05-27 11:35:50,164] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:50:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 6348 episode 0 object objamoth_c4c8eb2f231447009230db56835f76a7_1_0_4 completed with success=False +[05/27 11:50:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6348: 1 episodes +[05/27 11:50:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:50:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:50:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6348 +[05/27 11:50:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6348 in 2.28s (batch: 2.19s, save: 0.09s) +[05/27 11:50:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6348 +[05/27 11:50:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6348: 0/1 successful episodes +[05/27 11:50:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6403 (index 70/114) +[05/27 11:50:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6403 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 11:50:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +Goal: place vintage red wall-mounted rotary telephone next to light blue labeled cleaning bottle +[2026-05-27 11:51:29,167] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:00:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 6403 episode 0 object objarotarytelephone_0beb78c11c0f4537a27c53f8e46ddb86_1_0_2 completed with success=False +[05/27 12:00:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6403: 1 episodes +[05/27 12:00:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:00:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:00:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6403 +[05/27 12:00:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6403 in 2.82s (batch: 2.73s, save: 0.09s) +[05/27 12:00:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6403 +[05/27 12:00:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6403: 0/1 successful episodes +[05/27 12:00:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6515 (index 71/114) +[05/27 12:00:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6515 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 12:00:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +[05/27 12:00:39 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativepanel_a17676f45b3d483c9dc1910a2eb17269_1_0_2 in scene +Goal: place red torii gate with black next to tall black top hat +[2026-05-27 12:01:44,703] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:02:16 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 12:04:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 6515 episode 0 object objaminiaturemodel_5ab1392182d345b49b3391f7776339e9_1_0_5 completed with success=True +[05/27 12:04:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6515: 1 episodes +[05/27 12:04:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 86 timesteps +[05/27 12:04:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:04:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6515 +[05/27 12:04:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6515 in 2.58s (batch: 2.55s, save: 0.03s) +[05/27 12:04:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6515 +[05/27 12:04:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6515: 1/1 successful episodes +[05/27 12:04:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6616 (index 72/114) +[05/27 12:04:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6616 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 12:04:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/34 [00:00 does not support tracking retries. +[05/27 12:05:00 Worker 0 WARNING object_manager.py:1238] Could not find object objaphonecase_99fa689a1f66458ba5025088aebd974e_1_0_8 in scene +[05/27 12:05:00 Worker 0 WARNING object_manager.py:1238] Could not find object cup_10bb4374affb6510642adcfd03f48701_1_0_8 in scene +Goal: place round metallic lid with handle next to small red potato with texture +[2026-05-27 12:06:03,123] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:06:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 12:19:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 6616 episode 0 object objalid_dfddb32ab2c64ee2a96f905feb9d467f_1_0_8 completed with success=False +[05/27 12:19:46 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6616: 1 episodes +[05/27 12:19:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:19:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:19:49 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6616 +[05/27 12:19:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6616 in 2.89s (batch: 2.80s, save: 0.09s) +[05/27 12:19:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6616 +[05/27 12:19:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6616: 0/1 successful episodes +[05/27 12:19:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6733 (index 73/114) +[05/27 12:19:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6733 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 12:19:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +Goal: place wooden pestle with jagged top next to white ceramic vase with ridges +[2026-05-27 12:21:06,393] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:21:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 12:35:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 6733 episode 0 object objapestle_668fa2b7443e423f8b0d252d82a3d100_1_0_8 completed with success=False +[05/27 12:35:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6733: 1 episodes +[05/27 12:35:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:35:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:35:57 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6733 +[05/27 12:35:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6733 in 2.92s (batch: 2.83s, save: 0.09s) +[05/27 12:35:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6733 +[05/27 12:35:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6733: 0/1 successful episodes +[05/27 12:35:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6787 (index 74/114) +[05/27 12:35:57 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 6787 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 12:35:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +Goal: place glossy dark angular architectural cornice next to plesiosaurus +[2026-05-27 12:37:18,916] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:50:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 6787 episode 0 object objaarchitecturalmolding_f13cbb13a3ac48f4bd7e1dd9187a55d6_1_0_8 completed with success=False +[05/27 12:50:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +Goal: place black vr headset with antennas next to shiny metallic key with notches +[2026-05-27 12:51:33,133] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:52:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:04:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 6787 episode 1 object objavirtualrealityheadset_3cd83343e5c6450db20895a88fbd4de2_1_0_4 completed with success=False +[05/27 13:04:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6787: 2 episodes +[05/27 13:04:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:04:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:04:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:04:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:04:35 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6787 +[05/27 13:04:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6787 in 5.69s (batch: 5.52s, save: 0.17s) +[05/27 13:04:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6787 +[05/27 13:04:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6787: 0/2 successful episodes +[05/27 13:04:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6819 (index 75/114) +[05/27 13:04:35 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6819 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 13:04:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +Goal: place robust metal door lock mechanism next to bulbous shiny gold vase +[2026-05-27 13:05:41,984] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:06:13 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:14:53 Worker 0 INFO pipeline.py:1114] Worker 0 house 6819 episode 0 object objadoorlock_3d56a40e1bae492b89072f71651d2d63_1_0_7 completed with success=False +[05/27 13:14:56 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6819: 1 episodes +[05/27 13:14:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:14:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:14:58 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6819 +[05/27 13:14:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6819 in 2.30s (batch: 2.21s, save: 0.09s) +[05/27 13:14:59 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6819 +[05/27 13:14:59 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6819: 0/1 successful episodes +[05/27 13:14:59 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6930 (index 76/114) +[05/27 13:14:59 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6930 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 13:14:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[05/27 13:15:20 Worker 0 WARNING object_manager.py:1238] Could not find object objatapedispenser_fdf53823d30f4fed9a5423d6b6cbfad1_1_0_5 in scene +Goal: place nightvisiongoggles next to glossy blue vase +[2026-05-27 13:16:23,472] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:16:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:31:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 6930 episode 0 object objanightvisiongoggles_396b90fb83cb4f06b96b1f9a120af75b_1_0_4 completed with success=False +[05/27 13:31:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6930: 1 episodes +[05/27 13:31:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:31:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:31:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6930 +[05/27 13:31:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6930 in 2.89s (batch: 2.80s, save: 0.09s) +[05/27 13:31:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6930 +[05/27 13:31:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6930: 0/1 successful episodes +[05/27 13:31:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6991 (index 77/114) +[05/27 13:31:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6991 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 13:31:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/13 [00:00 does not support tracking retries. +Goal: place gray stone arrowhead with pink next to white rabbit pink eyes +[2026-05-27 13:32:59,593] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:33:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:41:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 6991 episode 0 object objaarrowhead_a3ba93523eed41f69c1e55e55ebb7789_1_0_3 completed with success=False +[05/27 13:41:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6991: 1 episodes +[05/27 13:41:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:41:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:41:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6991 +[05/27 13:41:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6991 in 2.24s (batch: 2.15s, save: 0.09s) +[05/27 13:41:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6991 +[05/27 13:41:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6991: 0/1 successful episodes +[05/27 13:41:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7043 (index 78/114) +[05/27 13:41:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7043 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 13:41:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +Goal: place eye model next to medium red apple +[2026-05-27 13:42:31,943] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:43:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:54:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 7043 episode 0 object objaeyemodel_bba987e54f5d4724b9ffb799c8d98895_1_0_6 completed with success=False +[05/27 13:54:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7043: 1 episodes +[05/27 13:54:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:54:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:54:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7043 +[05/27 13:54:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7043 in 2.85s (batch: 2.76s, save: 0.09s) +[05/27 13:54:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7043 +[05/27 13:54:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7043: 0/1 successful episodes +[05/27 13:54:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7126 (index 79/114) +[05/27 13:54:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7126 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 13:54:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[05/27 13:55:18 Worker 0 WARNING object_manager.py:1238] Could not find object objapocketwatch_dbb40c6f9226401f88230d46a12fa50f_1_0_5 in scene +[05/27 13:55:18 Worker 0 WARNING object_manager.py:1238] Could not find object fabric_fd3d318bb4ba7328dec20b40c6504241_1_0_5 in scene +[05/27 13:55:18 Worker 0 WARNING object_manager.py:1238] Could not find object objaspraycan_c6c66c606c2f44d1b6c263426c1953ff_1_0_7 in scene +Goal: place yellow truck with gray container trailer next to neuron model +[2026-05-27 13:56:24,559] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:10:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 7126 episode 0 object objatoytruck_2819f02722574b59b5efc5c3e62f3b2c_1_0_9 completed with success=False +[05/27 14:10:50 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7126: 1 episodes +[05/27 14:10:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:10:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:10:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7126 +[05/27 14:10:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7126 in 3.00s (batch: 2.90s, save: 0.09s) +[05/27 14:10:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7126 +[05/27 14:10:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7126: 0/1 successful episodes +[05/27 14:10:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7192 (index 80/114) +[05/27 14:10:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7192 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 14:10:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/6 [00:00 does not support tracking retries. +Goal: place blue birthday card with fox and rabbit next to furniture +[2026-05-27 14:11:59,877] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:12:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 14:17:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 7192 episode 0 object objagreetingcard_5c7029b2edd248cdafcfd33c93ff1728_1_0_2 completed with success=False +[05/27 14:17:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7192: 1 episodes +[05/27 14:17:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:17:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:17:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7192 +[05/27 14:17:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7192 in 2.90s (batch: 2.81s, save: 0.09s) +[05/27 14:17:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7192 +[05/27 14:17:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7192: 0/1 successful episodes +[05/27 14:17:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7319 (index 81/114) +[05/27 14:17:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7319 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 14:17:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +Goal: place yellow black wasp next to dark vintage folding camera +[2026-05-27 14:18:52,035] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:19:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 14:31:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 7319 episode 0 object objainsect_4c74d77df5ee41948218f8a620ec1228_1_0_8 completed with success=False +[05/27 14:31:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7319: 1 episodes +[05/27 14:31:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:31:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:31:52 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7319 +[05/27 14:31:52 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7319 in 2.90s (batch: 2.81s, save: 0.09s) +[05/27 14:31:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7319 +[05/27 14:31:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7319: 0/1 successful episodes +[05/27 14:31:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7356 (index 82/114) +[05/27 14:31:53 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7356 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 14:31:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +Goal: place circular stone disc with hole next to irregular brown rock with colorful minerals +[2026-05-27 14:33:02,220] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:33:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 14:42:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 7356 episode 0 object objastonedisc_bb31ba58de6e457aa1251a63ede16de2_2_0_7 completed with success=False +[05/27 14:42:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7356: 1 episodes +[05/27 14:42:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:43:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:43:01 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7356 +[05/27 14:43:01 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7356 in 2.28s (batch: 2.19s, save: 0.09s) +[05/27 14:43:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7356 +[05/27 14:43:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7356: 0/1 successful episodes +[05/27 14:43:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7434 (index 83/114) +[05/27 14:43:02 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7434 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 14:43:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +Goal: place red scissors with metallic blades next to light brown soil with skeleton exposed +[2026-05-27 14:44:09,652] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:56:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 7434 episode 0 object objascissors_b0fdda96fcb94002b8be3077f5b95299_1_0_9 completed with success=False +[05/27 14:57:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7434: 1 episodes +[05/27 14:57:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:57:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:57:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7434 +[05/27 14:57:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7434 in 2.25s (batch: 2.16s, save: 0.09s) +[05/27 14:57:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7434 +[05/27 14:57:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7434: 0/1 successful episodes +[05/27 14:57:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7480 (index 84/114) +[05/27 14:57:02 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7480 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 14:57:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[05/27 14:57:27 Worker 0 WARNING object_manager.py:1238] Could not find object objainstantnoodlecup_293aeb3e7ac04edfa702ee174181f678_2_0_6 in scene +[05/27 14:57:27 Worker 0 WARNING object_manager.py:1238] Could not find object Irishpotato_223ec3bbee2c0187562d066582ec9143_1_0_6 in scene +Goal: place green manual can opener next to teal spiral wand +[2026-05-27 14:58:29,004] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:59:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:00:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 7480 episode 0 object objacanopener_8237129bfae244d7a62d706937f9f106_1_0_6 completed with success=False +[05/27 15:00:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7480: 1 episodes +[05/27 15:00:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:00:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:00:27 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7480 +[05/27 15:00:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7480 in 2.22s (batch: 2.13s, save: 0.09s) +[05/27 15:00:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7480 +[05/27 15:00:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7480: 0/1 successful episodes +[05/27 15:00:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7613 (index 85/114) +[05/27 15:00:27 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7613 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 15:00:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +Goal: place multicolored thick glasses next to glossy wooden tapered cup +[2026-05-27 15:01:53,885] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:02:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:11:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 7613 episode 0 object objaeyeglasses_64eab051bace4d45a878fdf664f8baac_1_0_6 completed with success=False +[05/27 15:11:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7613: 1 episodes +[05/27 15:11:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:11:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:11:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7613 +[05/27 15:11:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7613 in 2.82s (batch: 2.73s, save: 0.09s) +[05/27 15:11:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7613 +[05/27 15:11:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7613: 0/1 successful episodes +[05/27 15:11:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7705 (index 86/114) +[05/27 15:11:35 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7705 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 15:11:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +Goal: place orange delivery van with windows next to slim blue phone device +[2026-05-27 15:13:10,506] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:13:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:25:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 7705 episode 0 object objatoyvehicle_8132c0db249843ba932920251b0e3770_1_0_9 completed with success=False +[05/27 15:25:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7705: 1 episodes +[05/27 15:25:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:25:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:25:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7705 +[05/27 15:25:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7705 in 2.23s (batch: 2.14s, save: 0.09s) +[05/27 15:25:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7705 +[05/27 15:25:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7705: 0/1 successful episodes +[05/27 15:25:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7790 (index 87/114) +[05/27 15:25:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7790 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 15:25:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +Goal: place eggs next to tall copper cup with ridges +[2026-05-27 15:26:29,401] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:36:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 7790 episode 0 object egg_42ba097bdb4a3b55fe0b3765a6f91265_1_0_6 completed with success=False +[05/27 15:36:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7790: 1 episodes +[05/27 15:36:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:36:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:36:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7790 +[05/27 15:36:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7790 in 2.88s (batch: 2.73s, save: 0.15s) +[05/27 15:36:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7790 +[05/27 15:36:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7790: 0/1 successful episodes +[05/27 15:36:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7871 (index 88/114) +[05/27 15:36:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7871 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 15:36:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +Goal: place round brown ceramic dish with fish next to tall clear cup +[2026-05-27 15:37:58,115] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:38:30 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:47:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 7871 episode 0 object objaceramicdish_188a46ce27e04b76abc01ba942ccb69d_1_0_6 completed with success=False +[05/27 15:48:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7871: 1 episodes +[05/27 15:48:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:48:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:48:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7871 +[05/27 15:48:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7871 in 2.93s (batch: 2.84s, save: 0.09s) +[05/27 15:48:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7871 +[05/27 15:48:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7871: 0/1 successful episodes +[05/27 15:48:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7985 (index 89/114) +[05/27 15:48:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7985 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 15:48:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/24 [00:00 does not support tracking retries. +[05/27 15:48:12 Worker 0 WARNING object_manager.py:1238] Could not find object objanoveltycard_8e6f2b6b96e24c6096116eb97376abff_1_0_4 in scene +Goal: place silver sword with yellow hilt and gem next to cutlery +[2026-05-27 15:49:15,303] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:49:49 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:58:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 7985 episode 0 object objatoysword_a9890b83a9dc4b9799ab8799f00325cc_1_0_6 completed with success=False +[05/27 15:58:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7985: 1 episodes +[05/27 15:58:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:58:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:58:54 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7985 +[05/27 15:58:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7985 in 2.89s (batch: 2.80s, save: 0.09s) +[05/27 15:58:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7985 +[05/27 15:58:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7985: 0/1 successful episodes +[05/27 15:58:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8087 (index 90/114) +[05/27 15:58:55 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8087 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 15:58:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +Goal: place iced snowman gingerbread cookie next to small shiny gold dog statue +[2026-05-27 16:00:10,704] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:10:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 8087 episode 0 object objacookie_1929e4a4db3d4a619b7aec1bc1268c83_1_0_6 completed with success=False +[05/27 16:10:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8087: 1 episodes +[05/27 16:10:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:10:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:10:26 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8087 +[05/27 16:10:26 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8087 in 2.27s (batch: 2.18s, save: 0.09s) +[05/27 16:10:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8087 +[05/27 16:10:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8087: 0/1 successful episodes +[05/27 16:10:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8177 (index 91/114) +[05/27 16:10:27 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8177 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 16:10:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +Goal: place polished smooth golden circular ring next to brown wooden gavel +[2026-05-27 16:11:49,188] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:12:23 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 16:28:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 8177 episode 0 object objaring_c20681970f3f4e449aeec50291be17b1_1_0_3 completed with success=False +[05/27 16:28:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8177: 1 episodes +[05/27 16:28:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:28:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:28:54 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8177 +[05/27 16:28:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8177 in 2.84s (batch: 2.75s, save: 0.09s) +[05/27 16:28:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8177 +[05/27 16:28:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8177: 0/1 successful episodes +[05/27 16:28:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8235 (index 92/114) +[05/27 16:28:55 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8235 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 16:28:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +[05/27 16:29:21 Worker 0 WARNING object_manager.py:1238] Could not find object objaspraycan_e3227ecd37d44cd6be1331941d9cfa2f_1_0_5 in scene +[05/27 16:29:21 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativepetal_3609a49ccf984828a25d8b73c0ea672b_1_0_7 in scene +[05/27 16:29:21 Worker 0 WARNING object_manager.py:1238] Could not find object cellulartelephone_f65c71e22b7e94dd68f01167ec92b467_1_0_7 in scene +Goal: place gold opera glasses next to brown fedora hat with blue band +[2026-05-27 16:30:23,127] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:30:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 16:45:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 8235 episode 0 object objaoperaglasses_a6bf64a282b247cb9784f862e5da27e1_1_0_8 completed with success=False +[05/27 16:45:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8235: 1 episodes +[05/27 16:45:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:45:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:45:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8235 +[05/27 16:45:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8235 in 2.86s (batch: 2.77s, save: 0.09s) +[05/27 16:45:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8235 +[05/27 16:45:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8235: 0/1 successful episodes +[05/27 16:45:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8314 (index 93/114) +[05/27 16:45:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8314 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 16:45:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +Goal: place white connector with multiple yellow wires next to smooth translucent white bowl +[2026-05-27 16:46:55,790] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:47:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 16:59:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 8314 episode 0 object objaelectricalconnector_e55fbf1db52c4c99b680d800424b851b_1_0_4 completed with success=False +[05/27 17:00:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8314: 1 episodes +[05/27 17:00:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:00:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:00:03 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8314 +[05/27 17:00:03 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8314 in 3.00s (batch: 2.92s, save: 0.09s) +[05/27 17:00:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8314 +[05/27 17:00:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8314: 0/1 successful episodes +[05/27 17:00:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8392 (index 94/114) +[05/27 17:00:04 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8392 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 17:00:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/8 [00:00 does not support tracking retries. +Goal: place cleaning sponge next to white tape dispenser +[2026-05-27 17:01:16,605] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:01:48 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 17:06:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 8392 episode 0 object objacleaningsponge_afd092fac12f4ef8984b80d3d15de232_1_0_2 completed with success=False +[05/27 17:06:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8392: 1 episodes +[05/27 17:06:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:06:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:06:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8392 +[05/27 17:06:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8392 in 2.86s (batch: 2.77s, save: 0.09s) +[05/27 17:06:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8392 +[05/27 17:06:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8392: 0/1 successful episodes +[05/27 17:06:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8478 (index 95/114) +[05/27 17:06:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8478 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 17:06:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +[05/27 17:07:18 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_6f646752c976a94a62a6979581d2556d_1_0_3 in scene +Goal: place toy sword next to book +[2026-05-27 17:08:21,919] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:08:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 17:21:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 8478 episode 0 object objatoysword_3cab1a6d7fd045c6983b41b821b6cc26_1_0_6 completed with success=False +[05/27 17:21:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8478: 1 episodes +[05/27 17:21:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:21:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:21:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8478 +[05/27 17:21:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8478 in 2.87s (batch: 2.77s, save: 0.09s) +[05/27 17:21:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8478 +[05/27 17:21:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8478: 0/1 successful episodes +[05/27 17:21:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8546 (index 96/114) +[05/27 17:21:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8546 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 17:21:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/6 [00:00 does not support tracking retries. +Goal: place soft flat round bread with spots next to blue rectangular frying pan +[2026-05-27 17:22:53,117] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:23:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 17:28:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 8546 episode 0 object objaflatbread_7aecee021b9f464bbc5ac80d7d8308a4_1_0_2 completed with success=False +[05/27 17:28:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8546: 1 episodes +[05/27 17:28:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:28:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:28:25 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8546 +[05/27 17:28:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8546 in 2.23s (batch: 2.14s, save: 0.09s) +[05/27 17:28:25 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8546 +[05/27 17:28:25 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8546: 0/1 successful episodes +[05/27 17:28:25 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8662 (index 97/114) +[05/27 17:28:25 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8662 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 17:28:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +[05/27 17:28:40 Worker 0 WARNING object_manager.py:1238] Could not find object objamolecularmodel_270f91fbee564b88acb06a3558fd6958_1_0_2 in scene +Goal: place lightweight camouflage glider next to dark plaque +[2026-05-27 17:29:43,314] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:42:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 8662 episode 0 object objatoyplane_c210b610454f48488605759aa419c7af_1_0_6 completed with success=False +[05/27 17:42:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8662: 1 episodes +[05/27 17:42:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:42:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:42:45 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8662 +[05/27 17:42:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8662 in 2.24s (batch: 2.15s, save: 0.09s) +[05/27 17:42:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8662 +[05/27 17:42:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8662: 0/1 successful episodes +[05/27 17:42:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8727 (index 98/114) +[05/27 17:42:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8727 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 17:42:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +Goal: place gray video camera with handle next to stylized gray bird with orange beak +[2026-05-27 17:43:51,752] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:51:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 8727 episode 0 object objavideocamera_55426eda2ba244a4b177e4b85400937c_1_0_2 completed with success=False +[05/27 17:51:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8727: 1 episodes +[05/27 17:51:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:51:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:51:38 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8727 +[05/27 17:51:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8727 in 2.86s (batch: 2.77s, save: 0.09s) +[05/27 17:51:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8727 +[05/27 17:51:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8727: 0/1 successful episodes +[05/27 17:51:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8848 (index 99/114) +[05/27 17:51:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8848 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 17:51:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +Goal: place white porcelain candlestick with cherubs next to light brown rectangular cardboard box +[2026-05-27 17:52:59,968] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:53:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 18:11:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 8848 episode 0 object objacandlestick_576b8819466a4775815379687602a788_1_0_7 completed with success=False +[05/27 18:11:17 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8848: 1 episodes +[05/27 18:11:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:11:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:11:20 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8848 +[05/27 18:11:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8848 in 2.36s (batch: 2.27s, save: 0.09s) +[05/27 18:11:20 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8848 +[05/27 18:11:20 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8848: 0/1 successful episodes +[05/27 18:11:20 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8896 (index 100/114) +[05/27 18:11:20 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8896 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 18:11:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/26 [00:00 does not support tracking retries. +[05/27 18:11:27 Worker 0 WARNING object_manager.py:1238] Could not find object objafantasystaff_c2afbeb459e34f818f962e16914f116b_1_0_7 in scene +[05/27 18:11:27 Worker 0 WARNING object_manager.py:1238] Could not find object plate_3a462adb63be096cddd3c836fdb52686_1_0_7 in scene +Goal: place vintage mobile phone next to smooth yellow apple with stem +[2026-05-27 18:12:31,465] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:13:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 18:23:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 8896 episode 0 object objavintagemobilephone_e1a072af323f4d358bad054195353b96_1_0_6 completed with success=False +[05/27 18:23:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8896: 1 episodes +[05/27 18:23:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:23:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:23:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8896 +[05/27 18:23:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8896 in 2.27s (batch: 2.18s, save: 0.09s) +[05/27 18:23:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8896 +[05/27 18:23:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8896: 0/1 successful episodes +[05/27 18:23:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8981 (index 101/114) +[05/27 18:23:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8981 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 18:23:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/58 [00:00 does not support tracking retries. +Goal: place black curved remote control with buttons next to orange plaid pillow +[2026-05-27 18:24:28,710] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:25:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 18:41:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 8981 episode 0 object objaremotecontrol_cf2b3e74a7b547e2a75dba0187584190_1_0_3 completed with success=False +[05/27 18:42:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8981: 1 episodes +[05/27 18:42:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:42:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:42:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8981 +[05/27 18:42:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8981 in 2.28s (batch: 2.19s, save: 0.09s) +[05/27 18:42:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8981 +[05/27 18:42:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8981: 0/1 successful episodes +[05/27 18:42:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9033 (index 102/114) +[05/27 18:42:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9033 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 18:42:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +Goal: place sharpener next to veg +[2026-05-27 18:43:18,671] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:43:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 18:51:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 9033 episode 0 object objapencilsharpener_9906a13b5a5647dbad3c67a9150721cd_1_0_6 completed with success=False +[05/27 18:51:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9033: 1 episodes +[05/27 18:51:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:51:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:51:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9033 +[05/27 18:51:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9033 in 2.82s (batch: 2.73s, save: 0.09s) +[05/27 18:51:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9033 +[05/27 18:51:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9033: 0/1 successful episodes +[05/27 18:51:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9094 (index 103/114) +[05/27 18:51:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9094 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 18:51:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/27 18:52:08 Worker 0 WARNING object_manager.py:1238] Could not find object objaclaytablet_6f3cd26177eb4f679f06286bb6a2f304_1_0_7 in scene +[05/27 18:52:08 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaperroll_d72efd4c78e146d88aeff93a721c5330_1_0_7 in scene +Goal: place paintbrush with wooden handle next to blue hardcover book +[2026-05-27 18:53:16,885] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:53:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:07:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 9094 episode 0 object objapaintbrush_be6bd6967866421ea9dff02b84062bdf_1_0_4 completed with success=False +[05/27 19:07:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9094: 1 episodes +[05/27 19:07:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:07:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:07:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9094 +[05/27 19:07:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9094 in 2.27s (batch: 2.18s, save: 0.09s) +[05/27 19:07:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9094 +[05/27 19:07:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9094: 0/1 successful episodes +[05/27 19:07:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9169 (index 104/114) +[05/27 19:07:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9169 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 19:07:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/32 [00:00 does not support tracking retries. +[05/27 19:08:07 Worker 0 WARNING object_manager.py:1238] Could not find object objaheadpiece_59e157a7e97c4be8889f7af0ce06eed2_1_0_4 in scene +[05/27 19:08:07 Worker 0 WARNING object_manager.py:1238] Could not find object bowl_c594624adbb2b4b72f24e12b1047e7af_1_0_4 in scene +Goal: place red pagoda pop-up card next to brown cardboard box +[2026-05-27 19:09:10,335] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:09:44 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:20:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 9169 episode 0 object objapopupcard_c384a40a36554ddeb1a0a08f8ec266d3_1_0_7 completed with success=False +[05/27 19:20:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9169: 1 episodes +[05/27 19:20:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:20:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:20:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9169 +[05/27 19:20:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9169 in 2.90s (batch: 2.81s, save: 0.09s) +[05/27 19:20:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9169 +[05/27 19:20:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9169: 0/1 successful episodes +[05/27 19:20:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9259 (index 105/114) +[05/27 19:20:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9259 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 19:20:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +Goal: place sculpture next to yellow handled knife +[2026-05-27 19:21:44,978] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:22:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:23:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 9259 episode 0 object objadecorativecarving_5aa3736a4568498ea1cd62c0a0aeac5a_1_0_2 completed with success=False +[05/27 19:23:58 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9259: 1 episodes +[05/27 19:23:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:24:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:24:01 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9259 +[05/27 19:24:01 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9259 in 2.92s (batch: 2.83s, save: 0.09s) +[05/27 19:24:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9259 +[05/27 19:24:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9259: 0/1 successful episodes +[05/27 19:24:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9327 (index 106/114) +[05/27 19:24:02 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9327 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 19:24:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/32 [00:00 does not support tracking retries. +Goal: place green packet next to golden brown loaf of bread +[2026-05-27 19:25:25,221] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:26:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:38:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 9327 episode 0 object objafoodpacket_58ff4a1e3fb24fbca6989f9b6d1fe23e_1_0_8 completed with success=False +[05/27 19:38:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9327: 1 episodes +[05/27 19:38:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:38:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:38:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9327 +[05/27 19:38:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9327 in 2.98s (batch: 2.89s, save: 0.09s) +[05/27 19:38:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9327 +[05/27 19:38:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9327: 0/1 successful episodes +[05/27 19:38:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9431 (index 107/114) +[05/27 19:38:57 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9431 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 19:38:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +Goal: place small brown paper bag next to shallow round metallic cooking pan with handles +[2026-05-27 19:40:19,799] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:48:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 9431 episode 0 object objapaperbag_9ccf2fce68ea45e0b0861038d5aa035d_1_0_6 completed with success=False +[05/27 19:48:35 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9431: 1 episodes +[05/27 19:48:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:48:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:48:38 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9431 +[05/27 19:48:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9431 in 2.83s (batch: 2.74s, save: 0.09s) +[05/27 19:48:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9431 +[05/27 19:48:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9431: 0/1 successful episodes +[05/27 19:48:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9511 (index 108/114) +[05/27 19:48:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9511 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 19:48:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/25 [00:00 does not support tracking retries. +Goal: place white rectangular component with wires next to tall white candle on dark holder +[2026-05-27 19:49:52,737] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:00:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 9511 episode 0 object objaelectricalcomponent_aab3af6780ff4bb7a5ec47cb4046d811_2_0_7 completed with success=False +[05/27 20:00:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9511: 1 episodes +[05/27 20:00:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:00:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:00:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9511 +[05/27 20:00:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9511 in 2.93s (batch: 2.84s, save: 0.09s) +[05/27 20:00:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9511 +[05/27 20:00:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9511: 0/1 successful episodes +[05/27 20:00:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9591 (index 109/114) +[05/27 20:00:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9591 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 20:00:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/13 [00:00 does not support tracking retries. +Goal: place vintage wooden hand plane with blade next to cream hardcover unix programming book +[2026-05-27 20:01:27,720] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:02:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:08:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 9591 episode 0 object objahandplane_14a7c067deec4920bf94b61f67126f31_1_0_2 completed with success=False +[05/27 20:08:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9591: 1 episodes +[05/27 20:08:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:08:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:08:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9591 +[05/27 20:08:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9591 in 2.18s (batch: 2.09s, save: 0.09s) +[05/27 20:08:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9591 +[05/27 20:08:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9591: 0/1 successful episodes +[05/27 20:08:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9660 (index 110/114) +[05/27 20:08:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9660 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 20:08:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/14 [00:00 does not support tracking retries. +Goal: place headphone next to sandglass +[2026-05-27 20:09:45,308] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:10:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:17:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 9660 episode 0 object objaheadset_b2c1fc509240456894c803a7d77dd549_1_0_3 completed with success=False +[05/27 20:17:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9660: 1 episodes +[05/27 20:17:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:17:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:17:47 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9660 +[05/27 20:17:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9660 in 2.39s (batch: 2.29s, save: 0.09s) +[05/27 20:17:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9660 +[05/27 20:17:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9660: 0/1 successful episodes +[05/27 20:17:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9742 (index 111/114) +[05/27 20:17:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9742 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 20:17:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +Goal: place rubber mallet with handle next to red tomato +[2026-05-27 20:19:14,773] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:19:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:26:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 9742 episode 0 object objarubbermallet_f6f3eee2d418463bbab1abe93e274d60_1_0_2 completed with success=False +[05/27 20:26:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9742: 1 episodes +[05/27 20:26:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:26:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:26:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9742 +[05/27 20:26:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9742 in 2.80s (batch: 2.71s, save: 0.09s) +[05/27 20:26:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9742 +[05/27 20:26:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9742: 0/1 successful episodes +[05/27 20:26:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9850 (index 112/114) +[05/27 20:26:37 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 9850 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 20:26:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/17 [00:00 does not support tracking retries. +[05/27 20:26:51 Worker 0 WARNING object_manager.py:1238] Could not find object objahandle_a168ec0564fb4a1e98caadee6866be28_1_0_2 in scene +[05/27 20:26:51 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_d9d42e7cce766240326bcd4fc80dc6a7_1_0_2 in scene +Goal: place glossy black remote control next to toytower +[2026-05-27 20:27:55,105] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:28:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:35:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 9850 episode 0 object objaremotecontrol_bd51773c52e54812a88c38c14935ae98_1_0_3 completed with success=False +[05/27 20:35:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/17 [00:00 does not support tracking retries. +[05/27 20:35:21 Worker 0 WARNING object_manager.py:1238] Could not find object objahandle_a168ec0564fb4a1e98caadee6866be28_1_0_2 in scene +[05/27 20:35:21 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_d9d42e7cce766240326bcd4fc80dc6a7_1_0_2 in scene +Goal: place whimsical pink roofed tower next to sleek glossy black remote control +[2026-05-27 20:36:26,855] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:37:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:43:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 9850 episode 1 object objatoytower_9c57f4e2d52845058a6a93f44cc999d9_1_0_3 completed with success=False +[05/27 20:43:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9850: 2 episodes +[05/27 20:43:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:43:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:43:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:43:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:43:53 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9850 +[05/27 20:43:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9850 in 5.74s (batch: 5.57s, save: 0.17s) +[05/27 20:43:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9850 +[05/27 20:43:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9850: 0/2 successful episodes +[05/27 20:43:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9899 (index 113/114) +[05/27 20:43:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9899 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 +[05/27 20:43:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/17 [00:00 does not support tracking retries. +Goal: place vase next to cream hardcover unix programming book +[2026-05-27 20:45:08,359] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:45:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:52:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 9899 episode 0 object vase_485850bef5e28630dd1156aaec2e3528_1_0_2 completed with success=False +[05/27 20:52:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9899: 1 episodes +[05/27 20:52:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:52:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:52:47 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9899 +[05/27 20:52:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9899 in 2.26s (batch: 2.17s, save: 0.09s) +[05/27 20:52:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9899 +[05/27 20:52:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9899: 0/1 successful episodes +[05/27 20:52:48 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses +[05/27 20:52:48 INFO pipeline.py:1496] Completed 114 houses, skipped 0 houses +[05/27 20:52:48 INFO pipeline.py:1499] Success count: 5, Total count: 118 +[05/27 20:52:48 INFO pipeline.py:1500] Success rate: 4.24% +Combined 118 episodes from 114 files → /tmp/tmp_fo65oy7.h5 + +Saved → /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/results.csv at-end: 4.24% | oracle: 4.24% of 118 episodes +[2026-05-27 20:53:02,004] INFO MolmoSpaces simulator eval finished: success=5/118 rate=0.0424 output=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval +[2026-05-27 20:53:02,004] INFO Benchmark CSV: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/results.csv diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/submission/eval_meta.json b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/submission/eval_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6eb4a2033b6858907b3158ef2ca9cf202d85de6e --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/submission/eval_meta.json @@ -0,0 +1,9 @@ +{ + "step": null, + "checkpoint_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt", + "benchmark_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01", + "policy_name": "latest", + "command": "#!/usr/bin/env bash\nset -euo pipefail\ncd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy\nconda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament", + "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815", + "csv_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/results.csv" +} diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/submission/results.csv b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/submission/results.csv new file mode 100644 index 0000000000000000000000000000000000000000..0b3728e374ac9700177ba69b30200f6a096c17d6 --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/submission/results.csv @@ -0,0 +1,119 @@ +# policy_name: latest +# run_path: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815 +# dt: 0.066 +# max_steps: 450 +policy,category,successes,total,success_rate_pct,ci_95_low_pct,ci_95_high_pct,oracle_successes,oracle_rate_pct,oracle_ci_95_low_pct,oracle_ci_95_high_pct,jerk_joint_mean,jerk_joint_std +latest,Alarmclock,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.595603,0.0 +latest,Bowl,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,22.659875,0.0 +latest,Cellulartelephone,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,89.994736,0.0 +latest,Egg,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,56.497801,0.0 +latest,Irishpotato,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,35.252893,0.0 +latest,Objaadhesivetape,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,56.091583,0.0 +latest,Objaalienbust,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,25.243707,0.0 +latest,Objaamulet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.810271,0.0 +latest,Objaanglegrinder,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.951698,0.0 +latest,Objaarchitecturalmolding,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.049044,0.0 +latest,Objaarrowhead,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,63.766723,0.0 +latest,Objaaviatorhelmet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.020201,0.0 +latest,Objabarclamp,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,47.271319,0.0 +latest,Objabolt,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,9.855721,0.0 +latest,Objabutterflyknife,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,38.598313,0.0 +latest,Objacandle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,34.095904,0.0 +latest,Objacandlestick,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,123.388124,0.0 +latest,Objacanopener,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,84.894106,0.0 +latest,Objaceramicdish,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,31.790713,0.0 +latest,Objachefsknife,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,34.987584,0.0 +latest,Objaclaydish,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,50.805703,0.0 +latest,Objacleaningsponge,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.737399,0.0 +latest,Objaclothesiron,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,26.176363,0.0 +latest,Objacookie,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.749231,0.0 +latest,Objacookingpot,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,26.445017,0.0 +latest,Objacostumefigure,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,176.461147,0.0 +latest,Objacucumber,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,235.516929,0.0 +latest,Objadecorativebird,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,17.501585,0.0 +latest,Objadecorativebowl,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.096544,0.0 +latest,Objadecorativecandle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,31.452304,0.0 +latest,Objadecorativecarving,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.401039,0.0 +latest,Objadecorativedisc,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.22707,0.0 +latest,Objadecorativefixture,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.788523,0.0 +latest,Objadecorativefruit,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,105.860287,0.0 +latest,Objadecorativehorn,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,127.968073,0.0 +latest,Objadecorativescript,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,26.845244,0.0 +latest,Objadecorativespike,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,14.900974,0.0 +latest,Objadispenser,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,53.394269,0.0 +latest,Objadisposablecoffeecup,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.254203,0.0 +latest,Objadoorlock,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,144.137325,0.0 +latest,Objaelectricalcomponent,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.450725,0.0 +latest,Objaelectricalconnector,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.735328,0.0 +latest,Objaeyeglasses,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,83.688235,0.0 +latest,Objaeyemodel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,22.315955,0.0 +latest,Objaflatbread,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,31.33332,0.0 +latest,Objafoodpacket,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,17.725728,0.0 +latest,Objafruit,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,102.317535,0.0 +latest,Objagastorch,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.625986,0.0 +latest,Objagreetingcard,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,90.902205,54.560064 +latest,Objagrenade,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,84.783087,0.0 +latest,Objahandaxe,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,19.412249,0.0 +latest,Objahandbell,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,21.882461,0.0 +latest,Objahandheldmirror,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,21.408088,0.0 +latest,Objahandheldradio,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,27.639072,0.0 +latest,Objahandplane,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,33.215134,0.0 +latest,Objaheadphones,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,46.744281,0.0 +latest,Objaheadset,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,20.963183,0.0 +latest,Objahinge,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,34.197697,0.0 +latest,Objainsect,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,28.931556,0.0 +latest,Objaknife,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,44.337108,0.0 +latest,Objakylix,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,31.816387,0.0 +latest,Objalemonsqueezer,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,104.049545,0.0 +latest,Objalid,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,56.188478,0.0 +latest,Objamagnet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,66.438863,0.0 +latest,Objamarchingbandhat,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,35.642754,0.0 +latest,Objamedal,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,26.653704,0.0 +latest,Objaminiaturemodel,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,37.304812,0.0 +latest,Objamodelrocket,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,77.832185,0.0 +latest,Objamosaicfragment,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,33.058611,0.0 +latest,Objamoth,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.299524,0.0 +latest,Objamug,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,30.002291,0.0 +latest,Objanail,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,62.787437,0.0 +latest,Objanightvisiongoggles,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,68.812999,0.0 +latest,Objaoperaglasses,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.288603,0.0 +latest,Objapaintbrush,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,53.504123,0.0 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+latest,Objatoysword,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,57.175751,12.564853 +latest,Objatoytower,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,39.817107,0.0 +latest,Objatoytruck,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,54.237592,0.0 +latest,Objatoyvehicle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.009387,0.0 +latest,Objavideocamera,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,27.779666,0.0 +latest,Objavintagemobilephone,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,15.941818,0.0 +latest,Objavirtualrealityheadset,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,65.120563,0.0 +latest,Objaweaponsight,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.170573,0.0 +latest,Objawrench,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,47.825399,0.0 +latest,Soap Dispenser,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,58.803449,0.0 +latest,Statue,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,53.006645,0.0 +latest,Vase,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,83.689979,0.0 +latest,OVERALL,5,118,4.24,1.87,9.53,5,4.24,1.87,9.53,45.009242,35.458973 diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/submission/run_command.sh b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/submission/run_command.sh new file mode 100644 index 0000000000000000000000000000000000000000..8693305fdc3f3ae6e980417f11a0fe7dc0417033 --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/submission/run_command.sh @@ -0,0 +1,4 @@ +#!/usr/bin/env bash +set -euo pipefail +cd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy +conda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_01 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/submission/shard_01_results.csv b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/submission/shard_01_results.csv new file mode 100644 index 0000000000000000000000000000000000000000..0b3728e374ac9700177ba69b30200f6a096c17d6 --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/submission/shard_01_results.csv @@ -0,0 +1,119 @@ +# policy_name: latest +# run_path: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815 +# dt: 0.066 +# max_steps: 450 +policy,category,successes,total,success_rate_pct,ci_95_low_pct,ci_95_high_pct,oracle_successes,oracle_rate_pct,oracle_ci_95_low_pct,oracle_ci_95_high_pct,jerk_joint_mean,jerk_joint_std +latest,Alarmclock,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.595603,0.0 +latest,Bowl,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,22.659875,0.0 +latest,Cellulartelephone,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,89.994736,0.0 +latest,Egg,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,56.497801,0.0 +latest,Irishpotato,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,35.252893,0.0 +latest,Objaadhesivetape,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,56.091583,0.0 +latest,Objaalienbust,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,25.243707,0.0 +latest,Objaamulet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.810271,0.0 +latest,Objaanglegrinder,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.951698,0.0 +latest,Objaarchitecturalmolding,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.049044,0.0 +latest,Objaarrowhead,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,63.766723,0.0 +latest,Objaaviatorhelmet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.020201,0.0 +latest,Objabarclamp,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,47.271319,0.0 +latest,Objabolt,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,9.855721,0.0 +latest,Objabutterflyknife,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,38.598313,0.0 +latest,Objacandle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,34.095904,0.0 +latest,Objacandlestick,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,123.388124,0.0 +latest,Objacanopener,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,84.894106,0.0 +latest,Objaceramicdish,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,31.790713,0.0 +latest,Objachefsknife,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,34.987584,0.0 +latest,Objaclaydish,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,50.805703,0.0 +latest,Objacleaningsponge,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.737399,0.0 +latest,Objaclothesiron,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,26.176363,0.0 +latest,Objacookie,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.749231,0.0 +latest,Objacookingpot,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,26.445017,0.0 +latest,Objacostumefigure,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,176.461147,0.0 +latest,Objacucumber,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,235.516929,0.0 +latest,Objadecorativebird,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,17.501585,0.0 +latest,Objadecorativebowl,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.096544,0.0 +latest,Objadecorativecandle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,31.452304,0.0 +latest,Objadecorativecarving,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.401039,0.0 +latest,Objadecorativedisc,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.22707,0.0 +latest,Objadecorativefixture,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.788523,0.0 +latest,Objadecorativefruit,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,105.860287,0.0 +latest,Objadecorativehorn,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,127.968073,0.0 +latest,Objadecorativescript,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,26.845244,0.0 +latest,Objadecorativespike,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,14.900974,0.0 +latest,Objadispenser,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,53.394269,0.0 +latest,Objadisposablecoffeecup,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.254203,0.0 +latest,Objadoorlock,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,144.137325,0.0 +latest,Objaelectricalcomponent,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.450725,0.0 +latest,Objaelectricalconnector,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.735328,0.0 +latest,Objaeyeglasses,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,83.688235,0.0 +latest,Objaeyemodel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,22.315955,0.0 +latest,Objaflatbread,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,31.33332,0.0 +latest,Objafoodpacket,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,17.725728,0.0 +latest,Objafruit,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,102.317535,0.0 +latest,Objagastorch,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.625986,0.0 +latest,Objagreetingcard,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,90.902205,54.560064 +latest,Objagrenade,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,84.783087,0.0 +latest,Objahandaxe,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,19.412249,0.0 +latest,Objahandbell,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,21.882461,0.0 +latest,Objahandheldmirror,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,21.408088,0.0 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(environment variables not set) [pipeline.py: 677] +05/26 12:05:16 INFO: Starting house-by-house rollout of 120 houses with 2 episodes each (240 total episodes) using 1 worker processes [pipeline.py: 1279] +05/26 12:05:16 INFO: Evaluation configuration: [pipeline.py: 1286] +05/26 12:05:16 INFO: {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['droid_shoulder_light_randomization', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 'wan_molmobot_franka', + 'obs_camera_name': 'droid_shoulder_light_randomization', + 'obs_image_key': 'rgb_head', + 'obs_state_key': 'robot_state', + 'obs_wrist_camera_name': 'wrist_camera_zed_mini', + 'obs_wrist_image_key': 'rgb_wrist', + 'policy_cls': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [177, + 319, + 408, + 419, + 484, + 547, + 595, + 635, + 717, + 748, + 818, + 896, + 999, + 1097, + 1191, + 1276, + 1350, + 1416, + 1555, + 1678, + 1744, + 1816, + 1928, + 2030, + 2098, + 2207, + 2338, + 2442, + 2491, + 2607, + 2735, + 2842, + 2914, + 3041, + 3142, + 3233, + 3282, + 3364, + 3412, + 3502, + 3585, + 3688, + 3755, + 3884, + 3925, + 4018, + 4108, + 4192, + 4263, + 4303, + 4348, + 4444, + 4541, + 4649, + 4690, + 4764, + 4781, + 4858, + 4924, + 5000, + 5108, + 5185, + 5278, + 5437, + 5508, + 5592, + 5644, + 5718, + 5863, + 5908, + 5985, + 6093, + 6155, + 6241, + 6289, + 6350, + 6421, + 6523, + 6624, + 6739, + 6826, + 6933, + 6994, + 7057, + 7134, + 7140, + 7220, + 7323, + 7362, + 7437, + 7501, + 7619, + 7730, + 7822, + 7874, + 7994, + 8095, + 8178, + 8237, + 8321, + 8394, + 8480, + 8560, + 8678, + 8748, + 8853, + 8905, + 8988, + 9044, + 9102, + 9171, + 9277, + 9337, + 9463, + 9514, + 9599, + 9661, + 9759, + 9913, + 9955], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} [pipeline.py: 1287] +05/26 12:05:16 INFO: [Worker 0] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler [pipeline.py: 439] +05/26 12:05:16 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 12:05:16 INFO: [Worker 0] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler [pipeline.py: 445] +05/26 12:05:16 INFO: [Worker 0] Worker 0 starting house 177 (index 0/120) [pipeline.py: 473] +05/26 12:05:16 INFO: [Worker 0] Loaded 1 episodes for house 177 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/26 12:05:16 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 12:05:32 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/26 12:05:36 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_177_ceiling.xml [task_sampler.py: 797] +05/26 12:05:36 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=177, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 12:05:36 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 12:05:36 INFO: [Worker 0] randomize_scene: Setting poses for 61 objects [json_eval_task_sampler.py: 686] +05/26 12:05:36 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 12:05:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 12:05:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 12:05:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 12:05:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 12:05:36 INFO: [Worker 0] Sampled task 'Pick up the flask with purple liquid and place it next to the shallow white square bowl' [task_sampler.py: 1136] +05/26 12:05:36 INFO: [Worker 0] Worker 0 house 177 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 12:05:36 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 12:13:08 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 13:20:07 INFO: [Worker 0] Worker 0 house 177 episode 0 object objaerlenmeyerflask_9c04b4217c964d9cb469ca90f843bb6b_1_0_6 completed with success=False [pipeline.py: 1114] +05/26 13:20:16 INFO: [Worker 0] Batching and saving trajectory data for house_177: 1 episodes [pipeline.py: 233] +05/26 13:20:16 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 13:20:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 13:20:25 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_177 [save_utils.py: 703] +05/26 13:20:25 INFO: [Worker 0] Successfully saved trajectory data for house_177 in 8.98s (batch: 8.79s, save: 0.18s) [pipeline.py: 280] +05/26 13:20:27 WARNING: [Worker 0] No trajectory data to save for house_177 [pipeline.py: 229] +05/26 13:20:27 INFO: [Worker 0] Worker 0 completed house 177: 0/1 successful episodes [pipeline.py: 1243] +05/26 13:20:27 INFO: [Worker 0] Worker 0 starting house 319 (index 1/120) [pipeline.py: 473] +05/26 13:20:27 INFO: [Worker 0] Loaded 1 episodes for house 319 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/26 13:20:27 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 13:20:47 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_319_ceiling.xml [task_sampler.py: 797] +05/26 13:20:47 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=319, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 13:20:47 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 13:20:47 INFO: [Worker 0] randomize_scene: Setting poses for 67 objects [json_eval_task_sampler.py: 686] +05/26 13:20:47 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 13:20:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 13:20:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 13:20:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 13:20:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 13:20:47 INFO: [Worker 0] Sampled task 'Pick up the orange curved metal hook with holes and place it next to the ceramicbirdfigure' [task_sampler.py: 1136] +05/26 13:20:47 INFO: [Worker 0] Worker 0 house 319 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 13:20:47 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 13:26:56 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 14:52:45 INFO: [Worker 0] Worker 0 house 319 episode 0 object objahook_aa302253b52e4b2a90b27384342e56a9_1_0_2 completed with success=False [pipeline.py: 1114] +05/26 14:52:54 INFO: [Worker 0] Batching and saving trajectory data for house_319: 1 episodes [pipeline.py: 233] +05/26 14:52:54 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 14:53:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 14:53:00 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_319 [save_utils.py: 703] +05/26 14:53:00 INFO: [Worker 0] Successfully saved trajectory data for house_319 in 6.16s (batch: 5.82s, save: 0.34s) [pipeline.py: 280] +05/26 14:53:02 WARNING: [Worker 0] No trajectory data to save for house_319 [pipeline.py: 229] +05/26 14:53:02 INFO: [Worker 0] Worker 0 completed house 319: 0/1 successful episodes [pipeline.py: 1243] +05/26 14:53:02 INFO: [Worker 0] Worker 0 starting house 408 (index 2/120) [pipeline.py: 473] +05/26 14:53:02 INFO: [Worker 0] Loaded 1 episodes for house 408 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/26 14:53:02 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 14:53:11 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/26 14:53:23 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_408_ceiling.xml [task_sampler.py: 797] +05/26 14:53:23 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=408, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 14:53:23 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 14:53:23 INFO: [Worker 0] randomize_scene: Setting poses for 92 objects [json_eval_task_sampler.py: 686] +05/26 14:53:23 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 14:53:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 14:53:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 14:53:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 14:53:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 14:53:23 INFO: [Worker 0] Sampled task 'Pick up the yellow origami paper crane and place it next to the pale beige fossil' [task_sampler.py: 1136] +05/26 14:53:23 INFO: [Worker 0] Worker 0 house 408 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 14:53:24 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 14:53:24 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_9 in scene [object_manager.py: 1238] +05/26 14:53:24 WARNING: [Worker 0] Could not find object objadecorativemold_148f80486ea04f9a873fb212e98f87ae_1_0_9 in scene [object_manager.py: 1238] +05/26 14:53:24 WARNING: [Worker 0] Could not find object candle_1b82c5d62bcdb9c9e0fbc639fdc9e22a_1_0_9 in scene [object_manager.py: 1238] +05/26 16:43:25 INFO: [Worker 0] Worker 0 house 408 episode 0 object objaorigamicrane_64f4a0b158774b10a1817b689df959e9_1_0_8 completed with success=False [pipeline.py: 1114] +05/26 16:43:36 INFO: [Worker 0] Batching and saving trajectory data for house_408: 1 episodes [pipeline.py: 233] +05/26 16:43:36 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 16:43:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 16:43:43 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_408 [save_utils.py: 703] +05/26 16:43:43 INFO: [Worker 0] Successfully saved trajectory data for house_408 in 7.39s (batch: 7.08s, save: 0.31s) [pipeline.py: 280] +05/26 16:43:45 WARNING: [Worker 0] No trajectory data to save for house_408 [pipeline.py: 229] +05/26 16:43:45 INFO: [Worker 0] Worker 0 completed house 408: 0/1 successful episodes [pipeline.py: 1243] +05/26 16:43:45 INFO: [Worker 0] Worker 0 starting house 419 (index 3/120) [pipeline.py: 473] +05/26 16:43:45 INFO: [Worker 0] Loaded 2 episodes for house 419 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/26 16:43:45 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 16:43:55 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_419_ceiling.xml [task_sampler.py: 797] +05/26 16:43:55 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=419, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 16:43:55 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 16:43:55 INFO: [Worker 0] randomize_scene: Setting poses for 21 objects [json_eval_task_sampler.py: 686] +05/26 16:43:55 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 16:43:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 16:43:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 16:43:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 16:43:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 16:43:55 INFO: [Worker 0] Sampled task 'Pick up the tall dark cup with ridges base and place it next to the translucent ergonomic spray bottle' [task_sampler.py: 1136] +05/26 16:43:55 INFO: [Worker 0] Worker 0 house 419 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/26 16:43:55 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 16:49:56 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 17:24:50 INFO: [Worker 0] Worker 0 house 419 episode 0 object cup_56edd85aeab4ab58cc2b44e71d5e86bf_1_0_2 completed with success=False [pipeline.py: 1114] +05/26 17:24:58 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 17:25:03 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_419_ceiling.xml [task_sampler.py: 797] +05/26 17:25:03 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=419, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 17:25:03 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 17:25:03 INFO: [Worker 0] randomize_scene: Setting poses for 21 objects [json_eval_task_sampler.py: 686] +05/26 17:25:03 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 17:25:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 17:25:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 17:25:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 17:25:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 17:25:03 INFO: [Worker 0] Sampled task 'Pick up the digitalcamera and place it next to the translucent plastic ergonomic spray bottle' [task_sampler.py: 1136] +05/26 17:25:03 INFO: [Worker 0] Worker 0 house 419 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/26 17:25:03 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 17:31:27 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 18:08:12 INFO: [Worker 0] Worker 0 house 419 episode 1 object objadigitalcamera_6149eddd5e0c4cf4a7dcd55bf6d4a4e7_1_0_2 completed with success=False [pipeline.py: 1114] +05/26 18:08:21 INFO: [Worker 0] Batching and saving trajectory data for house_419: 2 episodes [pipeline.py: 233] +05/26 18:08:21 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 18:08:25 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 18:08:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 18:08:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 18:08:31 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_419 [save_utils.py: 703] +05/26 18:08:31 INFO: [Worker 0] Successfully saved trajectory data for house_419 in 10.62s (batch: 10.07s, save: 0.56s) [pipeline.py: 280] +05/26 18:08:34 WARNING: [Worker 0] No trajectory data to save for house_419 [pipeline.py: 229] +05/26 18:08:34 INFO: [Worker 0] Worker 0 completed house 419: 0/2 successful episodes [pipeline.py: 1243] +05/26 18:08:34 INFO: [Worker 0] Worker 0 starting house 484 (index 4/120) [pipeline.py: 473] +05/26 18:08:34 INFO: [Worker 0] Loaded 1 episodes for house 484 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/26 18:08:34 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 18:08:39 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_484_ceiling.xml [task_sampler.py: 797] +05/26 18:08:39 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=484, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 18:08:39 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 18:08:39 INFO: [Worker 0] randomize_scene: Setting poses for 23 objects [json_eval_task_sampler.py: 686] +05/26 18:08:39 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 18:08:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 18:08:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 18:08:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 18:08:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 18:08:39 INFO: [Worker 0] Sampled task 'Pick up the miniature trafficlight with red light and place it next to the glossy green cup' [task_sampler.py: 1136] +05/26 18:08:39 INFO: [Worker 0] Worker 0 house 484 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 18:08:39 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 18:14:51 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 18:44:00 INFO: [Worker 0] Worker 0 house 484 episode 0 object objaminiaturetrafficlight_30f361478c8143fbb463dcf9b2a0cb61_1_0_2 completed with success=False [pipeline.py: 1114] +05/26 18:44:09 INFO: [Worker 0] Batching and saving trajectory data for house_484: 1 episodes [pipeline.py: 233] +05/26 18:44:09 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 18:44:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 18:44:17 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_484 [save_utils.py: 703] +05/26 18:44:17 INFO: [Worker 0] Successfully saved trajectory data for house_484 in 7.36s (batch: 7.06s, save: 0.30s) [pipeline.py: 280] +05/26 18:44:18 WARNING: [Worker 0] No trajectory data to save for house_484 [pipeline.py: 229] +05/26 18:44:18 INFO: [Worker 0] Worker 0 completed house 484: 0/1 successful episodes [pipeline.py: 1243] +05/26 18:44:18 INFO: [Worker 0] Worker 0 starting house 547 (index 5/120) [pipeline.py: 473] +05/26 18:44:18 INFO: [Worker 0] Loaded 1 episodes for house 547 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/26 18:44:18 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 18:44:48 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_547_ceiling.xml [task_sampler.py: 797] +05/26 18:44:48 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=547, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 18:44:48 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 18:44:48 INFO: [Worker 0] randomize_scene: Setting poses for 29 objects [json_eval_task_sampler.py: 686] +05/26 18:44:48 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 18:44:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 18:44:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 18:44:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 18:44:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 18:44:48 INFO: [Worker 0] Sampled task 'Pick up the red rectangular box of pasta and place it next to the dark rustic cylindrical loaf with skewer' [task_sampler.py: 1136] +05/26 18:44:48 INFO: [Worker 0] Worker 0 house 547 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 18:44:48 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 19:22:52 ERROR: Uncaught exception: [mp_logging.py: 268] +Traceback (most recent call last): + File "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py", line 1066, in + raise SystemExit(main()) + ^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py", line 938, in main + results = run_evaluation( + ^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py", line 690, in run_evaluation + success_count, total_count = runner.run(preloaded_policy=runner_policy) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1467, in run + house_processing_worker( + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/data_generation/pipeline.py", line 483, in house_processing_worker + runner_class.process_single_house( + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1095, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/data_generation/pipeline.py", line 834, in run_single_rollout + observation, reward, terminal, truncated, infos = task.step(action_cmd) + ^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/tasks/task.py", line 351, in step + observation, reward, terminated, truncated, info = self.get_and_cache_all_step_information() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/tasks/task.py", line 202, in get_and_cache_all_step_information + success = np.full(terminated.shape, fill_value=self.judge_success()) + ^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/tasks/pick_and_place_next_to_task.py", line 57, in judge_success + return self.get_info()[0]["success"] + ^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/tasks/pick_and_place_next_to_task.py", line 138, in get_info + r_sup_p = om.approximate_supporting_geoms(place_receptacle.body_id, b2g) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/env/object_manager.py", line 1664, in approximate_supporting_geoms + bpoly, bz, bt = get_body_box(body) + ^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/env/object_manager.py", line 1648, in get_body_box + c, e = body_aabb(self.model, self.data, bid) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/utils/mj_model_and_data_utils.py", line 87, in body_aabb + return geom_aabb(model, data, geoms) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/utils/mj_model_and_data_utils.py", line 145, in geom_aabb + mesh_aabb_center, mesh_aabb_size = mesh_aabb(model, data, geom_id) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/utils/mj_model_and_data_utils.py", line 116, in mesh_aabb + aabb_min = np.min(vertices, axis=0) + ^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/numpy/core/fromnumeric.py", line 2831, in _min_dispatcher + def _min_dispatcher(a, axis=None, out=None, keepdims=None, initial=None, + +KeyboardInterrupt diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/running_log.log b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/running_log.log new file mode 100644 index 0000000000000000000000000000000000000000..7a8d1be0a5c2e8480e53db38bb5953c17e9752ba --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/running_log.log @@ -0,0 +1,3159 @@ +05/26 19:48:16 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 677] +05/26 19:48:16 INFO: Starting house-by-house rollout of 115 houses with 2 episodes each (230 total episodes) using 1 worker processes [pipeline.py: 1279] +05/26 19:48:16 INFO: Evaluation configuration: [pipeline.py: 1286] +05/26 19:48:16 INFO: {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['droid_shoulder_light_randomization', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 'wan_molmobot_franka', + 'obs_camera_name': 'droid_shoulder_light_randomization', + 'obs_image_key': 'rgb_head', + 'obs_state_key': 'robot_state', + 'obs_wrist_camera_name': 'wrist_camera_zed_mini', + 'obs_wrist_image_key': 'rgb_wrist', + 'policy_cls': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [547, + 595, + 635, + 717, + 748, + 818, + 896, + 999, + 1097, + 1191, + 1276, + 1350, + 1416, + 1555, + 1678, + 1744, + 1816, + 1928, + 2030, + 2098, + 2207, + 2338, + 2442, + 2491, + 2607, + 2735, + 2842, + 2914, + 3041, + 3142, + 3233, + 3282, + 3364, + 3412, + 3502, + 3585, + 3688, + 3755, + 3884, + 3925, + 4018, + 4108, + 4192, + 4263, + 4303, + 4348, + 4444, + 4541, + 4649, + 4690, + 4764, + 4781, + 4858, + 4924, + 5000, + 5108, + 5185, + 5278, + 5437, + 5508, + 5592, + 5644, + 5718, + 5863, + 5908, + 5985, + 6093, + 6155, + 6241, + 6289, + 6350, + 6421, + 6523, + 6624, + 6739, + 6826, + 6933, + 6994, + 7057, + 7134, + 7140, + 7220, + 7323, + 7362, + 7437, + 7501, + 7619, + 7730, + 7822, + 7874, + 7994, + 8095, + 8178, + 8237, + 8321, + 8394, + 8480, + 8560, + 8678, + 8748, + 8853, + 8905, + 8988, + 9044, + 9102, + 9171, + 9277, + 9337, + 9463, + 9514, + 9599, + 9661, + 9759, + 9913, + 9955], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} [pipeline.py: 1287] +05/26 19:48:16 INFO: [Worker 0] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler [pipeline.py: 439] +05/26 19:48:16 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 19:48:16 INFO: [Worker 0] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler [pipeline.py: 445] +05/26 19:48:16 INFO: [Worker 0] Worker 0 starting house 547 (index 0/115) [pipeline.py: 473] +05/26 19:48:16 INFO: [Worker 0] Loaded 1 episodes for house 547 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/26 19:48:16 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 19:48:30 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/26 19:48:32 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_547_ceiling.xml [task_sampler.py: 797] +05/26 19:48:32 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=547, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 19:48:32 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 19:48:32 INFO: [Worker 0] randomize_scene: Setting poses for 29 objects [json_eval_task_sampler.py: 686] +05/26 19:48:32 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 19:48:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 19:48:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 19:48:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 19:48:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 19:48:32 INFO: [Worker 0] Sampled task 'Pick up the red rectangular box of pasta and place it next to the dark rustic cylindrical loaf with skewer' [task_sampler.py: 1136] +05/26 19:48:32 INFO: [Worker 0] Worker 0 house 547 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 19:48:32 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 19:56:16 INFO: [Worker 0] Worker 0 house 547 episode 0 object objafoodpackaging_34ad4ea886e54e139ae7d08fac8467a2_1_0_6 completed with success=False [pipeline.py: 1114] +05/26 19:56:19 INFO: [Worker 0] Batching and saving trajectory data for house_547: 1 episodes [pipeline.py: 233] +05/26 19:56:19 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 19:56:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 19:56:21 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_547 [save_utils.py: 703] +05/26 19:56:21 INFO: [Worker 0] Successfully saved trajectory data for house_547 in 2.24s (batch: 2.15s, save: 0.09s) [pipeline.py: 280] +05/26 19:56:21 WARNING: [Worker 0] No trajectory data to save for house_547 [pipeline.py: 229] +05/26 19:56:21 INFO: [Worker 0] Worker 0 completed house 547: 0/1 successful episodes [pipeline.py: 1243] +05/26 19:56:21 INFO: [Worker 0] Worker 0 starting house 595 (index 1/115) [pipeline.py: 473] +05/26 19:56:21 INFO: [Worker 0] Loaded 1 episodes for house 595 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/26 19:56:21 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 19:56:38 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_595_ceiling.xml [task_sampler.py: 797] +05/26 19:56:38 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=595, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 19:56:38 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 19:56:38 INFO: [Worker 0] randomize_scene: Setting poses for 79 objects [json_eval_task_sampler.py: 686] +05/26 19:56:38 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 19:56:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 19:56:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 19:56:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 19:56:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 19:56:38 INFO: [Worker 0] Sampled task 'Pick up the adhesive tape and place it next to the intricately carved stone pyramid' [task_sampler.py: 1136] +05/26 19:56:38 INFO: [Worker 0] Worker 0 house 595 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 19:56:38 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 19:56:38 WARNING: [Worker 0] Could not find object objabrush_f8f0d72e40d24bf8afa4b0157cbcb7c7_1_0_5 in scene [object_manager.py: 1238] +05/26 19:58:16 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 20:13:38 INFO: [Worker 0] Worker 0 house 595 episode 0 object objaadhesivetape_2222dc4b0ded4e008824c347409fd7e1_1_0_8 completed with success=False [pipeline.py: 1114] +05/26 20:13:41 INFO: [Worker 0] Batching and saving trajectory data for house_595: 1 episodes [pipeline.py: 233] +05/26 20:13:41 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 20:13:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 20:13:43 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_595 [save_utils.py: 703] +05/26 20:13:43 INFO: [Worker 0] Successfully saved trajectory data for house_595 in 2.29s (batch: 2.20s, save: 0.09s) [pipeline.py: 280] +05/26 20:13:44 WARNING: [Worker 0] No trajectory data to save for house_595 [pipeline.py: 229] +05/26 20:13:44 INFO: [Worker 0] Worker 0 completed house 595: 0/1 successful episodes [pipeline.py: 1243] +05/26 20:13:44 INFO: [Worker 0] Worker 0 starting house 635 (index 2/115) [pipeline.py: 473] +05/26 20:13:44 INFO: [Worker 0] Loaded 1 episodes for house 635 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/26 20:13:44 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 20:13:55 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_635_ceiling.xml [task_sampler.py: 797] +05/26 20:13:55 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=635, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 20:13:55 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 20:13:55 INFO: [Worker 0] randomize_scene: Setting poses for 66 objects [json_eval_task_sampler.py: 686] +05/26 20:13:55 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 20:13:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 20:13:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 20:13:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 20:13:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 20:13:55 INFO: [Worker 0] Sampled task 'Pick up the cartoonish observatory with satellite dish and place it next to the white candle with flame' [task_sampler.py: 1136] +05/26 20:13:55 INFO: [Worker 0] Worker 0 house 635 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 20:13:55 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 20:13:55 WARNING: [Worker 0] Could not find object tennisracket_8ce350e1a9c0b48dc32aed39a3adf033_1_0_4 in scene [object_manager.py: 1238] +05/26 20:28:27 INFO: [Worker 0] Worker 0 house 635 episode 0 object objatoybuilding_d82948e1023c4050915ffe4d0bd2b6ce_1_0_5 completed with success=False [pipeline.py: 1114] +05/26 20:28:30 INFO: [Worker 0] Batching and saving trajectory data for house_635: 1 episodes [pipeline.py: 233] +05/26 20:28:30 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 20:28:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 20:28:32 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_635 [save_utils.py: 703] +05/26 20:28:32 INFO: [Worker 0] Successfully saved trajectory data for house_635 in 2.23s (batch: 2.15s, save: 0.09s) [pipeline.py: 280] +05/26 20:28:33 WARNING: [Worker 0] No trajectory data to save for house_635 [pipeline.py: 229] +05/26 20:28:33 INFO: [Worker 0] Worker 0 completed house 635: 0/1 successful episodes [pipeline.py: 1243] +05/26 20:28:33 INFO: [Worker 0] Worker 0 starting house 717 (index 3/115) [pipeline.py: 473] +05/26 20:28:33 INFO: [Worker 0] Loaded 1 episodes for house 717 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/26 20:28:33 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 20:28:55 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_717_ceiling.xml [task_sampler.py: 797] +05/26 20:28:55 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=717, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 20:28:55 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 20:28:55 INFO: [Worker 0] randomize_scene: Setting poses for 59 objects [json_eval_task_sampler.py: 686] +05/26 20:28:55 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 20:28:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 20:28:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 20:28:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 20:28:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 20:28:55 INFO: [Worker 0] Sampled task 'Pick up the hexagonal metal bolt and place it next to the carafe' [task_sampler.py: 1136] +05/26 20:28:55 INFO: [Worker 0] Worker 0 house 717 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 20:28:55 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 20:28:55 WARNING: [Worker 0] Could not find object objasurgicalmask_14c823dca9034aa5bcf6628c4995f63a_1_0_5 in scene [object_manager.py: 1238] +05/26 20:37:02 INFO: [Worker 0] Worker 0 house 717 episode 0 object objabolt_04e3f80a4f1c4c888060fa5c5a53a188_1_0_7 completed with success=True [pipeline.py: 1114] +05/26 20:37:05 INFO: [Worker 0] Batching and saving trajectory data for house_717: 1 episodes [pipeline.py: 233] +05/26 20:37:05 INFO: [Worker 0] Preparing episode data: 191 timesteps [save_utils.py: 284] +05/26 20:37:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 20:37:07 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_717 [save_utils.py: 703] +05/26 20:37:07 INFO: [Worker 0] Successfully saved trajectory data for house_717 in 2.05s (batch: 2.00s, save: 0.05s) [pipeline.py: 280] +05/26 20:37:07 WARNING: [Worker 0] No trajectory data to save for house_717 [pipeline.py: 229] +05/26 20:37:07 INFO: [Worker 0] Worker 0 completed house 717: 1/1 successful episodes [pipeline.py: 1243] +05/26 20:37:07 INFO: [Worker 0] Worker 0 starting house 748 (index 4/115) [pipeline.py: 473] +05/26 20:37:07 INFO: [Worker 0] Loaded 1 episodes for house 748 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/26 20:37:07 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 20:37:22 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_748_ceiling.xml [task_sampler.py: 797] +05/26 20:37:22 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=748, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 20:37:22 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 20:37:22 INFO: [Worker 0] randomize_scene: Setting poses for 50 objects [json_eval_task_sampler.py: 686] +05/26 20:37:22 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 20:37:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 20:37:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 20:37:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 20:37:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 20:37:22 INFO: [Worker 0] Sampled task 'Pick up the round terracotta clay serving dish and place it next to the shiny smooth red apple' [task_sampler.py: 1136] +05/26 20:37:22 INFO: [Worker 0] Worker 0 house 748 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 20:37:22 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 20:38:52 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 20:47:50 INFO: [Worker 0] Worker 0 house 748 episode 0 object objaclaydish_976f5b6e9a1344628642051f680b176b_1_0_6 completed with success=False [pipeline.py: 1114] +05/26 20:47:54 INFO: [Worker 0] Batching and saving trajectory data for house_748: 1 episodes [pipeline.py: 233] +05/26 20:47:54 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 20:47:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 20:47:57 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_748 [save_utils.py: 703] +05/26 20:47:57 INFO: [Worker 0] Successfully saved trajectory data for house_748 in 2.95s (batch: 2.86s, save: 0.09s) [pipeline.py: 280] +05/26 20:47:57 WARNING: [Worker 0] No trajectory data to save for house_748 [pipeline.py: 229] +05/26 20:47:57 INFO: [Worker 0] Worker 0 completed house 748: 0/1 successful episodes [pipeline.py: 1243] +05/26 20:47:57 INFO: [Worker 0] Worker 0 starting house 818 (index 5/115) [pipeline.py: 473] +05/26 20:47:57 INFO: [Worker 0] Loaded 1 episodes for house 818 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/26 20:47:57 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 20:48:13 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_818_ceiling.xml [task_sampler.py: 797] +05/26 20:48:13 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=818, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 20:48:13 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 20:48:13 INFO: [Worker 0] randomize_scene: Setting poses for 55 objects [json_eval_task_sampler.py: 686] +05/26 20:48:13 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 20:48:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 20:48:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 20:48:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 20:48:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 20:48:13 INFO: [Worker 0] Sampled task 'Pick up the silver scissors and place it next to the slim gold metallic smartphone with buttons' [task_sampler.py: 1136] +05/26 20:48:13 INFO: [Worker 0] Worker 0 house 818 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 20:48:13 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 21:01:50 INFO: [Worker 0] Worker 0 house 818 episode 0 object objascissors_48161a88fb9b4982ad2dbefa137e652d_1_0_8 completed with success=False [pipeline.py: 1114] +05/26 21:01:53 INFO: [Worker 0] Batching and saving trajectory data for house_818: 1 episodes [pipeline.py: 233] +05/26 21:01:53 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 21:01:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 21:01:55 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_818 [save_utils.py: 703] +05/26 21:01:55 INFO: [Worker 0] Successfully saved trajectory data for house_818 in 2.15s (batch: 2.07s, save: 0.08s) [pipeline.py: 280] +05/26 21:01:55 WARNING: [Worker 0] No trajectory data to save for house_818 [pipeline.py: 229] +05/26 21:01:55 INFO: [Worker 0] Worker 0 completed house 818: 0/1 successful episodes [pipeline.py: 1243] +05/26 21:01:55 INFO: [Worker 0] Worker 0 starting house 896 (index 6/115) [pipeline.py: 473] +05/26 21:01:55 INFO: [Worker 0] Loaded 1 episodes for house 896 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/26 21:01:55 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 21:02:20 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_896_ceiling.xml [task_sampler.py: 797] +05/26 21:02:20 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=896, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 21:02:20 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 21:02:20 INFO: [Worker 0] randomize_scene: Setting poses for 33 objects [json_eval_task_sampler.py: 686] +05/26 21:02:20 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 21:02:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 21:02:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 21:02:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 21:02:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 21:02:20 INFO: [Worker 0] Sampled task 'Pick up the brown barrel mug and place it next to the white curved wooden molding' [task_sampler.py: 1136] +05/26 21:02:20 INFO: [Worker 0] Worker 0 house 896 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 21:02:20 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 21:13:03 INFO: [Worker 0] Worker 0 house 896 episode 0 object objamug_5e639b4c11ce43e0b6124371f88c9b15_1_0_6 completed with success=False [pipeline.py: 1114] +05/26 21:13:06 INFO: [Worker 0] Batching and saving trajectory data for house_896: 1 episodes [pipeline.py: 233] +05/26 21:13:06 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 21:13:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 21:13:08 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_896 [save_utils.py: 703] +05/26 21:13:08 INFO: [Worker 0] Successfully saved trajectory data for house_896 in 2.30s (batch: 2.21s, save: 0.09s) [pipeline.py: 280] +05/26 21:13:09 WARNING: [Worker 0] No trajectory data to save for house_896 [pipeline.py: 229] +05/26 21:13:09 INFO: [Worker 0] Worker 0 completed house 896: 0/1 successful episodes [pipeline.py: 1243] +05/26 21:13:09 INFO: [Worker 0] Worker 0 starting house 999 (index 7/115) [pipeline.py: 473] +05/26 21:13:09 INFO: [Worker 0] Loaded 1 episodes for house 999 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/26 21:13:09 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 21:13:32 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_999_ceiling.xml [task_sampler.py: 797] +05/26 21:13:32 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=999, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 21:13:32 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 21:13:32 INFO: [Worker 0] randomize_scene: Setting poses for 59 objects [json_eval_task_sampler.py: 686] +05/26 21:13:32 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 21:13:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 21:13:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 21:13:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 21:13:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 21:13:32 INFO: [Worker 0] Sampled task 'Pick up the gray remote with colorful buttons and place it next to the purple square pillow' [task_sampler.py: 1136] +05/26 21:13:32 INFO: [Worker 0] Worker 0 house 999 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 21:13:32 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 21:15:11 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 21:28:54 INFO: [Worker 0] Worker 0 house 999 episode 0 object objaremotecontrol_d838fc2535c64927a817da5a84d83a2a_1_0_6 completed with success=False [pipeline.py: 1114] +05/26 21:28:58 INFO: [Worker 0] Batching and saving trajectory data for house_999: 1 episodes [pipeline.py: 233] +05/26 21:28:58 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 21:29:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 21:29:01 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_999 [save_utils.py: 703] +05/26 21:29:01 INFO: [Worker 0] Successfully saved trajectory data for house_999 in 2.84s (batch: 2.76s, save: 0.09s) [pipeline.py: 280] +05/26 21:29:01 WARNING: [Worker 0] No trajectory data to save for house_999 [pipeline.py: 229] +05/26 21:29:01 INFO: [Worker 0] Worker 0 completed house 999: 0/1 successful episodes [pipeline.py: 1243] +05/26 21:29:01 INFO: [Worker 0] Worker 0 starting house 1097 (index 8/115) [pipeline.py: 473] +05/26 21:29:01 INFO: [Worker 0] Loaded 1 episodes for house 1097 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/26 21:29:01 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 21:29:26 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1097_ceiling.xml [task_sampler.py: 797] +05/26 21:29:26 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1097, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 21:29:26 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 21:29:26 INFO: [Worker 0] randomize_scene: Setting poses for 86 objects [json_eval_task_sampler.py: 686] +05/26 21:29:26 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 21:29:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 21:29:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 21:29:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 21:29:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 21:29:26 INFO: [Worker 0] Sampled task 'Pick up the timer and place it next to the white toilet paper roll with embossing' [task_sampler.py: 1136] +05/26 21:29:26 INFO: [Worker 0] Worker 0 house 1097 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 21:29:26 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 21:29:26 WARNING: [Worker 0] Could not find object objaminiaturelighthouse_bde6dcab0a89413eba4422da59f19cef_1_0_5 in scene [object_manager.py: 1238] +05/26 21:29:26 WARNING: [Worker 0] Could not find object objaguitareffectspedal_083eb9b9eb564701820d3a79377c77ce_1_0_5 in scene [object_manager.py: 1238] +05/26 21:30:55 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 21:46:18 INFO: [Worker 0] Worker 0 house 1097 episode 0 object objastopwatch_52be3edac347411e8b4b040ab9c650fc_1_0_5 completed with success=False [pipeline.py: 1114] +05/26 21:46:22 INFO: [Worker 0] Batching and saving trajectory data for house_1097: 1 episodes [pipeline.py: 233] +05/26 21:46:22 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 21:46:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 21:46:25 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1097 [save_utils.py: 703] +05/26 21:46:25 INFO: [Worker 0] Successfully saved trajectory data for house_1097 in 2.86s (batch: 2.77s, save: 0.09s) [pipeline.py: 280] +05/26 21:46:26 WARNING: [Worker 0] No trajectory data to save for house_1097 [pipeline.py: 229] +05/26 21:46:26 INFO: [Worker 0] Worker 0 completed house 1097: 0/1 successful episodes [pipeline.py: 1243] +05/26 21:46:26 INFO: [Worker 0] Worker 0 starting house 1191 (index 9/115) [pipeline.py: 473] +05/26 21:46:26 INFO: [Worker 0] Loaded 1 episodes for house 1191 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/26 21:46:26 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 21:46:52 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1191_ceiling.xml [task_sampler.py: 797] +05/26 21:46:52 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1191, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 21:46:52 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 21:46:52 INFO: [Worker 0] randomize_scene: Setting poses for 51 objects [json_eval_task_sampler.py: 686] +05/26 21:46:52 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 21:46:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 21:46:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 21:46:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 21:46:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 21:46:52 INFO: [Worker 0] Sampled task 'Pick up the brown pixelated torch and place it next to the metallic futuristic device with handle' [task_sampler.py: 1136] +05/26 21:46:52 INFO: [Worker 0] Worker 0 house 1191 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 21:46:52 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 22:00:50 INFO: [Worker 0] Worker 0 house 1191 episode 0 object objatorch_e88c4214d4bc4437ae6d249237591071_1_0_9 completed with success=False [pipeline.py: 1114] +05/26 22:00:53 INFO: [Worker 0] Batching and saving trajectory data for house_1191: 1 episodes [pipeline.py: 233] +05/26 22:00:53 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 22:00:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 22:00:55 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1191 [save_utils.py: 703] +05/26 22:00:55 INFO: [Worker 0] Successfully saved trajectory data for house_1191 in 2.25s (batch: 2.17s, save: 0.09s) [pipeline.py: 280] +05/26 22:00:56 WARNING: [Worker 0] No trajectory data to save for house_1191 [pipeline.py: 229] +05/26 22:00:56 INFO: [Worker 0] Worker 0 completed house 1191: 0/1 successful episodes [pipeline.py: 1243] +05/26 22:00:56 INFO: [Worker 0] Worker 0 starting house 1276 (index 10/115) [pipeline.py: 473] +05/26 22:00:56 INFO: [Worker 0] Loaded 1 episodes for house 1276 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/26 22:00:56 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 22:00:58 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1276_ceiling.xml [task_sampler.py: 797] +05/26 22:00:58 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1276, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 22:00:58 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 22:00:58 INFO: [Worker 0] randomize_scene: Setting poses for 35 objects [json_eval_task_sampler.py: 686] +05/26 22:00:58 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 22:00:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 22:00:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 22:00:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 22:00:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 22:00:58 INFO: [Worker 0] Sampled task 'Pick up the teal shoe last with size markings and place it next to the green piggy bank with clouds' [task_sampler.py: 1136] +05/26 22:00:58 INFO: [Worker 0] Worker 0 house 1276 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 22:00:58 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 22:02:34 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 22:11:19 INFO: [Worker 0] Worker 0 house 1276 episode 0 object objashoelast_ca1b8c8150074daea810166ec5c86b78_1_0_7 completed with success=False [pipeline.py: 1114] +05/26 22:11:22 INFO: [Worker 0] Batching and saving trajectory data for house_1276: 1 episodes [pipeline.py: 233] +05/26 22:11:22 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 22:11:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 22:11:24 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1276 [save_utils.py: 703] +05/26 22:11:24 INFO: [Worker 0] Successfully saved trajectory data for house_1276 in 2.18s (batch: 2.09s, save: 0.09s) [pipeline.py: 280] +05/26 22:11:24 WARNING: [Worker 0] No trajectory data to save for house_1276 [pipeline.py: 229] +05/26 22:11:24 INFO: [Worker 0] Worker 0 completed house 1276: 0/1 successful episodes [pipeline.py: 1243] +05/26 22:11:24 INFO: [Worker 0] Worker 0 starting house 1350 (index 11/115) [pipeline.py: 473] +05/26 22:11:24 INFO: [Worker 0] Loaded 1 episodes for house 1350 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/26 22:11:24 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 22:11:59 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1350_ceiling.xml [task_sampler.py: 797] +05/26 22:11:59 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1350, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 22:11:59 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 22:11:59 INFO: [Worker 0] randomize_scene: Setting poses for 55 objects [json_eval_task_sampler.py: 686] +05/26 22:11:59 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 22:11:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 22:11:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 22:11:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 22:11:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 22:11:59 INFO: [Worker 0] Sampled task 'Pick up the metallic chopping axe and place it next to the children's purple book with horse puppet' [task_sampler.py: 1136] +05/26 22:11:59 INFO: [Worker 0] Worker 0 house 1350 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 22:11:59 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 22:13:27 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 22:25:08 INFO: [Worker 0] Worker 0 house 1350 episode 0 object objahandaxe_5b6cd83c95344bcea335fc2452624abe_1_0_6 completed with success=False [pipeline.py: 1114] +05/26 22:25:11 INFO: [Worker 0] Batching and saving trajectory data for house_1350: 1 episodes [pipeline.py: 233] +05/26 22:25:11 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 22:25:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 22:25:13 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1350 [save_utils.py: 703] +05/26 22:25:13 INFO: [Worker 0] Successfully saved trajectory data for house_1350 in 2.24s (batch: 2.15s, save: 0.09s) [pipeline.py: 280] +05/26 22:25:13 WARNING: [Worker 0] No trajectory data to save for house_1350 [pipeline.py: 229] +05/26 22:25:13 INFO: [Worker 0] Worker 0 completed house 1350: 0/1 successful episodes [pipeline.py: 1243] +05/26 22:25:13 INFO: [Worker 0] Worker 0 starting house 1416 (index 12/115) [pipeline.py: 473] +05/26 22:25:13 INFO: [Worker 0] Loaded 1 episodes for house 1416 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/26 22:25:13 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 22:25:17 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1416_ceiling.xml [task_sampler.py: 797] +05/26 22:25:17 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1416, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 22:25:17 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 22:25:17 INFO: [Worker 0] randomize_scene: Setting poses for 51 objects [json_eval_task_sampler.py: 686] +05/26 22:25:17 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 22:25:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 22:25:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 22:25:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 22:25:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 22:25:17 INFO: [Worker 0] Sampled task 'Pick up the blue rectangular gum package with branding and place it next to the gold vase' [task_sampler.py: 1136] +05/26 22:25:17 INFO: [Worker 0] Worker 0 house 1416 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 22:25:17 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 22:25:17 WARNING: [Worker 0] Could not find object pillow_c223d0fc3107c8eb43a3c5876f16cbfc_1_0_4 in scene [object_manager.py: 1238] +05/26 22:25:17 WARNING: [Worker 0] Could not find object laptop_db169b2db696f5f3309c1b601969bfb0_1_0_4 in scene [object_manager.py: 1238] +05/26 22:38:26 INFO: [Worker 0] Worker 0 house 1416 episode 0 object objachewinggumpackage_ccce466fa203480c91ffba46d02d6509_1_0_6 completed with success=False [pipeline.py: 1114] +05/26 22:38:30 INFO: [Worker 0] Batching and saving trajectory data for house_1416: 1 episodes [pipeline.py: 233] +05/26 22:38:30 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 22:38:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 22:38:33 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1416 [save_utils.py: 703] +05/26 22:38:33 INFO: [Worker 0] Successfully saved trajectory data for house_1416 in 2.87s (batch: 2.78s, save: 0.09s) [pipeline.py: 280] +05/26 22:38:34 WARNING: [Worker 0] No trajectory data to save for house_1416 [pipeline.py: 229] +05/26 22:38:34 INFO: [Worker 0] Worker 0 completed house 1416: 0/1 successful episodes [pipeline.py: 1243] +05/26 22:38:34 INFO: [Worker 0] Worker 0 starting house 1555 (index 13/115) [pipeline.py: 473] +05/26 22:38:34 INFO: [Worker 0] Loaded 1 episodes for house 1555 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/26 22:38:34 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 22:39:16 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1555_ceiling.xml [task_sampler.py: 797] +05/26 22:39:16 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1555, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 22:39:16 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 22:39:16 INFO: [Worker 0] randomize_scene: Setting poses for 63 objects [json_eval_task_sampler.py: 686] +05/26 22:39:16 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 22:39:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 22:39:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 22:39:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 22:39:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 22:39:16 INFO: [Worker 0] Sampled task 'Pick up the black hat plume and place it next to the gray bowl' [task_sampler.py: 1136] +05/26 22:39:16 INFO: [Worker 0] Worker 0 house 1555 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 22:39:17 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 22:39:17 WARNING: [Worker 0] Could not find object objadentures_4fc005a4bb9f4ed49ad3b5255e87e720_1_0_5 in scene [object_manager.py: 1238] +05/26 22:39:17 WARNING: [Worker 0] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene [object_manager.py: 1238] +05/26 22:40:53 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 22:54:18 INFO: [Worker 0] Worker 0 house 1555 episode 0 object objamarchingbandhat_04ca4cc9ff7c4546a438d55c727fc557_1_0_4 completed with success=False [pipeline.py: 1114] +05/26 22:54:22 INFO: [Worker 0] Batching and saving trajectory data for house_1555: 1 episodes [pipeline.py: 233] +05/26 22:54:22 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 22:54:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 22:54:25 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1555 [save_utils.py: 703] +05/26 22:54:25 INFO: [Worker 0] Successfully saved trajectory data for house_1555 in 2.93s (batch: 2.84s, save: 0.09s) [pipeline.py: 280] +05/26 22:54:26 WARNING: [Worker 0] No trajectory data to save for house_1555 [pipeline.py: 229] +05/26 22:54:26 INFO: [Worker 0] Worker 0 completed house 1555: 0/1 successful episodes [pipeline.py: 1243] +05/26 22:54:26 INFO: [Worker 0] Worker 0 starting house 1678 (index 14/115) [pipeline.py: 473] +05/26 22:54:26 INFO: [Worker 0] Loaded 1 episodes for house 1678 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/26 22:54:26 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 22:54:33 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1678_ceiling.xml [task_sampler.py: 797] +05/26 22:54:33 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1678, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 22:54:33 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 22:54:33 INFO: [Worker 0] randomize_scene: Setting poses for 101 objects [json_eval_task_sampler.py: 686] +05/26 22:54:33 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 22:54:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 22:54:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 22:54:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 22:54:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 22:54:33 INFO: [Worker 0] Sampled task 'Pick up the medallion with crown and shields and place it next to the dark gray bowl' [task_sampler.py: 1136] +05/26 22:54:33 INFO: [Worker 0] Worker 0 house 1678 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 22:54:33 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 22:54:33 WARNING: [Worker 0] Could not find object objasurgicalmask_14c823dca9034aa5bcf6628c4995f63a_1_0_5 in scene [object_manager.py: 1238] +05/26 22:54:33 WARNING: [Worker 0] Could not find object atomizer_c60254aae031ecd4e316a5add61459a4_1_0_5 in scene [object_manager.py: 1238] +05/26 23:14:21 INFO: [Worker 0] Worker 0 house 1678 episode 0 object objamedallion_74573e9beb164375942775cc38047ba7_1_0_4 completed with success=False [pipeline.py: 1114] +05/26 23:14:26 INFO: [Worker 0] Batching and saving trajectory data for house_1678: 1 episodes [pipeline.py: 233] +05/26 23:14:26 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 23:14:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 23:14:29 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1678 [save_utils.py: 703] +05/26 23:14:29 INFO: [Worker 0] Successfully saved trajectory data for house_1678 in 3.02s (batch: 2.93s, save: 0.09s) [pipeline.py: 280] +05/26 23:14:29 WARNING: [Worker 0] No trajectory data to save for house_1678 [pipeline.py: 229] +05/26 23:14:29 INFO: [Worker 0] Worker 0 completed house 1678: 0/1 successful episodes [pipeline.py: 1243] +05/26 23:14:29 INFO: [Worker 0] Worker 0 starting house 1744 (index 15/115) [pipeline.py: 473] +05/26 23:14:29 INFO: [Worker 0] Loaded 1 episodes for house 1744 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/26 23:14:29 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 23:14:52 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1744_ceiling.xml [task_sampler.py: 797] +05/26 23:14:52 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1744, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 23:14:52 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 23:14:52 INFO: [Worker 0] randomize_scene: Setting poses for 50 objects [json_eval_task_sampler.py: 686] +05/26 23:14:52 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 23:14:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 23:14:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 23:14:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 23:14:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 23:14:52 INFO: [Worker 0] Sampled task 'Pick up the blue patterned bowl and place it next to the metal cup' [task_sampler.py: 1136] +05/26 23:14:52 INFO: [Worker 0] Worker 0 house 1744 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 23:14:52 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 23:16:40 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 23:28:58 INFO: [Worker 0] Worker 0 house 1744 episode 0 object objapouringbowl_bad55ce1183a4965896446aa526c7ac2_1_0_2 completed with success=False [pipeline.py: 1114] +05/26 23:29:02 INFO: [Worker 0] Batching and saving trajectory data for house_1744: 1 episodes [pipeline.py: 233] +05/26 23:29:02 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 23:29:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 23:29:05 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1744 [save_utils.py: 703] +05/26 23:29:05 INFO: [Worker 0] Successfully saved trajectory data for house_1744 in 2.90s (batch: 2.81s, save: 0.09s) [pipeline.py: 280] +05/26 23:29:06 WARNING: [Worker 0] No trajectory data to save for house_1744 [pipeline.py: 229] +05/26 23:29:06 INFO: [Worker 0] Worker 0 completed house 1744: 0/1 successful episodes [pipeline.py: 1243] +05/26 23:29:06 INFO: [Worker 0] Worker 0 starting house 1816 (index 16/115) [pipeline.py: 473] +05/26 23:29:06 INFO: [Worker 0] Loaded 1 episodes for house 1816 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/26 23:29:06 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 23:30:21 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1816_ceiling.xml [task_sampler.py: 797] +05/26 23:30:21 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1816, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 23:30:21 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 23:30:21 INFO: [Worker 0] randomize_scene: Setting poses for 96 objects [json_eval_task_sampler.py: 686] +05/26 23:30:21 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 23:30:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 23:30:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 23:30:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 23:30:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 23:30:21 INFO: [Worker 0] Sampled task 'Pick up the blue and white modern electric iron and place it next to the rustic golden brown bread' [task_sampler.py: 1136] +05/26 23:30:21 INFO: [Worker 0] Worker 0 house 1816 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 23:30:22 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 23:30:22 WARNING: [Worker 0] Could not find object objadigitalitem_c0a4a104714043eab85a69ea03f18472_1_0_7 in scene [object_manager.py: 1238] +05/26 23:33:47 INFO: [Worker 0] Worker 0 house 1816 episode 0 object objasteamiron_7dc6eeb22d424534b45783fbe997b302_1_0_2 completed with success=False [pipeline.py: 1114] +05/26 23:33:51 INFO: [Worker 0] Batching and saving trajectory data for house_1816: 1 episodes [pipeline.py: 233] +05/26 23:33:51 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 23:33:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 23:33:54 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1816 [save_utils.py: 703] +05/26 23:33:54 INFO: [Worker 0] Successfully saved trajectory data for house_1816 in 2.86s (batch: 2.77s, save: 0.09s) [pipeline.py: 280] +05/26 23:33:54 WARNING: [Worker 0] No trajectory data to save for house_1816 [pipeline.py: 229] +05/26 23:33:54 INFO: [Worker 0] Worker 0 completed house 1816: 0/1 successful episodes [pipeline.py: 1243] +05/26 23:33:54 INFO: [Worker 0] Worker 0 starting house 1928 (index 17/115) [pipeline.py: 473] +05/26 23:33:54 INFO: [Worker 0] Loaded 1 episodes for house 1928 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/26 23:33:54 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 23:35:19 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1928_ceiling.xml [task_sampler.py: 797] +05/26 23:35:19 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1928, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 23:35:19 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 23:35:19 INFO: [Worker 0] randomize_scene: Setting poses for 52 objects [json_eval_task_sampler.py: 686] +05/26 23:35:19 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 23:35:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 23:35:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 23:35:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 23:35:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 23:35:19 INFO: [Worker 0] Sampled task 'Pick up the small pale leaf-shaped textured arrowhead and place it next to the blue spaceship' [task_sampler.py: 1136] +05/26 23:35:19 INFO: [Worker 0] Worker 0 house 1928 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 23:35:19 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 23:36:55 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 23:50:00 INFO: [Worker 0] Worker 0 house 1928 episode 0 object objaarrowhead_adf24b01def54cb2ba548ada8cc8aa8a_1_0_2 completed with success=False [pipeline.py: 1114] +05/26 23:50:04 INFO: [Worker 0] Batching and saving trajectory data for house_1928: 1 episodes [pipeline.py: 233] +05/26 23:50:04 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 23:50:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 23:50:06 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1928 [save_utils.py: 703] +05/26 23:50:06 INFO: [Worker 0] Successfully saved trajectory data for house_1928 in 2.33s (batch: 2.24s, save: 0.09s) [pipeline.py: 280] +05/26 23:50:06 WARNING: [Worker 0] No trajectory data to save for house_1928 [pipeline.py: 229] +05/26 23:50:06 INFO: [Worker 0] Worker 0 completed house 1928: 0/1 successful episodes [pipeline.py: 1243] +05/26 23:50:06 INFO: [Worker 0] Worker 0 starting house 2030 (index 18/115) [pipeline.py: 473] +05/26 23:50:06 INFO: [Worker 0] Loaded 1 episodes for house 2030 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/26 23:50:06 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 23:50:47 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2030_ceiling.xml [task_sampler.py: 797] +05/26 23:50:47 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2030, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 23:50:47 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 23:50:47 INFO: [Worker 0] randomize_scene: Setting poses for 43 objects [json_eval_task_sampler.py: 686] +05/26 23:50:47 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 23:50:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 23:50:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 23:50:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 23:50:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 23:50:47 INFO: [Worker 0] Sampled task 'Pick up the blue dna helix and place it next to the silver bullet with red band tip' [task_sampler.py: 1136] +05/26 23:50:47 INFO: [Worker 0] Worker 0 house 2030 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 23:50:48 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 23:50:49 WARNING: [Worker 0] Could not find object objabrochure_9955a3def32b4f7e8c6efd289df59eb2_1_0_2 in scene [object_manager.py: 1238] +05/26 23:50:49 WARNING: [Worker 0] Could not find object cup_dd0ab95e28fdee3cb4033adcfec9a81b_1_0_2 in scene [object_manager.py: 1238] +05/26 23:52:26 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 00:02:12 INFO: [Worker 0] Worker 0 house 2030 episode 0 object objadecorativemodel_2d5d4f4c030240e5b938792d52cffa0e_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 00:02:15 INFO: [Worker 0] Batching and saving trajectory data for house_2030: 1 episodes [pipeline.py: 233] +05/27 00:02:15 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 00:02:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 00:02:17 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2030 [save_utils.py: 703] +05/27 00:02:17 INFO: [Worker 0] Successfully saved trajectory data for house_2030 in 2.22s (batch: 2.13s, save: 0.09s) [pipeline.py: 280] +05/27 00:02:18 WARNING: [Worker 0] No trajectory data to save for house_2030 [pipeline.py: 229] +05/27 00:02:18 INFO: [Worker 0] Worker 0 completed house 2030: 0/1 successful episodes [pipeline.py: 1243] +05/27 00:02:18 INFO: [Worker 0] Worker 0 starting house 2098 (index 19/115) [pipeline.py: 473] +05/27 00:02:18 INFO: [Worker 0] Loaded 1 episodes for house 2098 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 00:02:18 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 00:02:41 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2098_ceiling.xml [task_sampler.py: 797] +05/27 00:02:41 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2098, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 00:02:41 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 00:02:41 INFO: [Worker 0] randomize_scene: Setting poses for 62 objects [json_eval_task_sampler.py: 686] +05/27 00:02:41 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 00:02:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 00:02:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 00:02:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 00:02:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 00:02:41 INFO: [Worker 0] Sampled task 'Pick up the red vintage rotary dial payphone and place it next to the slim blue cell phone with pattern' [task_sampler.py: 1136] +05/27 00:02:41 INFO: [Worker 0] Worker 0 house 2098 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 00:02:42 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 00:02:42 WARNING: [Worker 0] Could not find object objadecorativewallart_41ab3efe80974302bff69de2400e67bc_1_0_8 in scene [object_manager.py: 1238] +05/27 00:04:21 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 00:16:56 INFO: [Worker 0] Worker 0 house 2098 episode 0 object objapayphone_a759edc5f9af4ee0a08391d2c5049c0b_1_0_4 completed with success=False [pipeline.py: 1114] +05/27 00:16:59 INFO: [Worker 0] Batching and saving trajectory data for house_2098: 1 episodes [pipeline.py: 233] +05/27 00:16:59 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 00:17:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 00:17:02 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2098 [save_utils.py: 703] +05/27 00:17:02 INFO: [Worker 0] Successfully saved trajectory data for house_2098 in 2.83s (batch: 2.74s, save: 0.09s) [pipeline.py: 280] +05/27 00:17:03 WARNING: [Worker 0] No trajectory data to save for house_2098 [pipeline.py: 229] +05/27 00:17:03 INFO: [Worker 0] Worker 0 completed house 2098: 0/1 successful episodes [pipeline.py: 1243] +05/27 00:17:03 INFO: [Worker 0] Worker 0 starting house 2207 (index 20/115) [pipeline.py: 473] +05/27 00:17:03 INFO: [Worker 0] Loaded 1 episodes for house 2207 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 00:17:03 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 00:19:34 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2207_ceiling.xml [task_sampler.py: 797] +05/27 00:19:34 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2207, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 00:19:34 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 00:19:35 INFO: [Worker 0] randomize_scene: Setting poses for 39 objects [json_eval_task_sampler.py: 686] +05/27 00:19:35 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 00:19:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 00:19:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 00:19:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 00:19:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 00:19:35 INFO: [Worker 0] Sampled task 'Pick up the brown leather wallet with woven edges and place it next to the colorful red parrot with wings' [task_sampler.py: 1136] +05/27 00:19:35 INFO: [Worker 0] Worker 0 house 2207 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 00:19:35 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 00:19:35 WARNING: [Worker 0] Could not find object objamagnifyingglass_1f86dd8841864e67a96614fec44f2222_1_0_5 in scene [object_manager.py: 1238] +05/27 00:21:20 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 00:31:57 INFO: [Worker 0] Worker 0 house 2207 episode 0 object objawallet_45e061790f364b1da9ff876382adca02_1_0_4 completed with success=False [pipeline.py: 1114] +05/27 00:32:01 INFO: [Worker 0] Batching and saving trajectory data for house_2207: 1 episodes [pipeline.py: 233] +05/27 00:32:01 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 00:32:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 00:32:04 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2207 [save_utils.py: 703] +05/27 00:32:04 INFO: [Worker 0] Successfully saved trajectory data for house_2207 in 2.95s (batch: 2.86s, save: 0.09s) [pipeline.py: 280] +05/27 00:32:04 WARNING: [Worker 0] No trajectory data to save for house_2207 [pipeline.py: 229] +05/27 00:32:04 INFO: [Worker 0] Worker 0 completed house 2207: 0/1 successful episodes [pipeline.py: 1243] +05/27 00:32:04 INFO: [Worker 0] Worker 0 starting house 2338 (index 21/115) [pipeline.py: 473] +05/27 00:32:04 INFO: [Worker 0] Loaded 1 episodes for house 2338 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 00:32:04 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 00:32:30 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2338_ceiling.xml [task_sampler.py: 797] +05/27 00:32:30 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2338, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 00:32:30 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 00:32:30 INFO: [Worker 0] randomize_scene: Setting poses for 81 objects [json_eval_task_sampler.py: 686] +05/27 00:32:30 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 00:32:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 00:32:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 00:32:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 00:32:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 00:32:30 INFO: [Worker 0] Sampled task 'Pick up the green emergency exit sign and place it next to the slim rectangular phone' [task_sampler.py: 1136] +05/27 00:32:30 INFO: [Worker 0] Worker 0 house 2338 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 00:32:30 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 00:50:57 INFO: [Worker 0] Worker 0 house 2338 episode 0 object objaemergencyexitsign_0346252dca2640d799b6d5ba5055851c_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 00:51:01 INFO: [Worker 0] Batching and saving trajectory data for house_2338: 1 episodes [pipeline.py: 233] +05/27 00:51:01 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 00:51:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 00:51:04 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2338 [save_utils.py: 703] +05/27 00:51:04 INFO: [Worker 0] Successfully saved trajectory data for house_2338 in 2.85s (batch: 2.76s, save: 0.10s) [pipeline.py: 280] +05/27 00:51:04 WARNING: [Worker 0] No trajectory data to save for house_2338 [pipeline.py: 229] +05/27 00:51:04 INFO: [Worker 0] Worker 0 completed house 2338: 0/1 successful episodes [pipeline.py: 1243] +05/27 00:51:04 INFO: [Worker 0] Worker 0 starting house 2442 (index 22/115) [pipeline.py: 473] +05/27 00:51:04 INFO: [Worker 0] Loaded 1 episodes for house 2442 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 00:51:04 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 00:51:09 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2442_ceiling.xml [task_sampler.py: 797] +05/27 00:51:09 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2442, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 00:51:09 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 00:51:09 INFO: [Worker 0] randomize_scene: Setting poses for 68 objects [json_eval_task_sampler.py: 686] +05/27 00:51:09 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 00:51:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 00:51:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 00:51:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 00:51:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 00:51:09 INFO: [Worker 0] Sampled task 'Pick up the polished round bronze knocker and place it next to the rectangular pillow with earthy stripes' [task_sampler.py: 1136] +05/27 00:51:09 INFO: [Worker 0] Worker 0 house 2442 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 00:51:09 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 01:06:37 INFO: [Worker 0] Worker 0 house 2442 episode 0 object objadoorknocker_6327f620b1044a16b21216caaf6b107a_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 01:06:40 INFO: [Worker 0] Batching and saving trajectory data for house_2442: 1 episodes [pipeline.py: 233] +05/27 01:06:40 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 01:06:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 01:06:43 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2442 [save_utils.py: 703] +05/27 01:06:43 INFO: [Worker 0] Successfully saved trajectory data for house_2442 in 2.87s (batch: 2.77s, save: 0.09s) [pipeline.py: 280] +05/27 01:06:44 WARNING: [Worker 0] No trajectory data to save for house_2442 [pipeline.py: 229] +05/27 01:06:44 INFO: [Worker 0] Worker 0 completed house 2442: 0/1 successful episodes [pipeline.py: 1243] +05/27 01:06:44 INFO: [Worker 0] Worker 0 starting house 2491 (index 23/115) [pipeline.py: 473] +05/27 01:06:44 INFO: [Worker 0] Loaded 1 episodes for house 2491 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 01:06:44 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 01:07:16 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2491_ceiling.xml [task_sampler.py: 797] +05/27 01:07:16 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2491, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 01:07:16 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 01:07:16 INFO: [Worker 0] randomize_scene: Setting poses for 107 objects [json_eval_task_sampler.py: 686] +05/27 01:07:16 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 01:07:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 01:07:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 01:07:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 01:07:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 01:07:16 INFO: [Worker 0] Sampled task 'Pick up the blue puzzle piece with rainbow and place it next to the transparent tall slender wine glass' [task_sampler.py: 1136] +05/27 01:07:16 INFO: [Worker 0] Worker 0 house 2491 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 01:07:16 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 01:08:58 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 01:28:25 INFO: [Worker 0] Worker 0 house 2491 episode 0 object objapuzzlepiece_8882000196234ce7aefd64b149f3064e_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 01:28:29 INFO: [Worker 0] Batching and saving trajectory data for house_2491: 1 episodes [pipeline.py: 233] +05/27 01:28:29 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 01:28:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 01:28:32 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2491 [save_utils.py: 703] +05/27 01:28:32 INFO: [Worker 0] Successfully saved trajectory data for house_2491 in 2.94s (batch: 2.85s, save: 0.09s) [pipeline.py: 280] +05/27 01:28:33 WARNING: [Worker 0] No trajectory data to save for house_2491 [pipeline.py: 229] +05/27 01:28:33 INFO: [Worker 0] Worker 0 completed house 2491: 0/1 successful episodes [pipeline.py: 1243] +05/27 01:28:33 INFO: [Worker 0] Worker 0 starting house 2607 (index 24/115) [pipeline.py: 473] +05/27 01:28:33 INFO: [Worker 0] Loaded 1 episodes for house 2607 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 01:28:33 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 01:28:35 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2607_ceiling.xml [task_sampler.py: 797] +05/27 01:28:35 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2607, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 01:28:35 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 01:28:35 INFO: [Worker 0] randomize_scene: Setting poses for 28 objects [json_eval_task_sampler.py: 686] +05/27 01:28:35 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 01:28:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 01:28:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 01:28:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 01:28:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 01:28:35 INFO: [Worker 0] Sampled task 'Pick up the colorful garden gnome with beard and place it next to the red faceted gemstone' [task_sampler.py: 1136] +05/27 01:28:35 INFO: [Worker 0] Worker 0 house 2607 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 01:28:35 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 01:28:35 WARNING: [Worker 0] Could not find object objamodelhouseroof_309fa6d6eba647d59e71f8b610d62241_1_0_3 in scene [object_manager.py: 1238] +05/27 01:28:35 WARNING: [Worker 0] Could not find object plate_f61129d9e389712b24d18993ffe91ff5_1_0_3 in scene [object_manager.py: 1238] +05/27 01:30:11 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 01:36:08 INFO: [Worker 0] Worker 0 house 2607 episode 0 object objagardengnome_51597381f06e4a2ca353b478e5ca9fcb_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 01:36:13 INFO: [Worker 0] Batching and saving trajectory data for house_2607: 1 episodes [pipeline.py: 233] +05/27 01:36:13 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 01:36:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 01:36:15 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2607 [save_utils.py: 703] +05/27 01:36:15 INFO: [Worker 0] Successfully saved trajectory data for house_2607 in 2.91s (batch: 2.82s, save: 0.09s) [pipeline.py: 280] +05/27 01:36:16 WARNING: [Worker 0] No trajectory data to save for house_2607 [pipeline.py: 229] +05/27 01:36:16 INFO: [Worker 0] Worker 0 completed house 2607: 0/1 successful episodes [pipeline.py: 1243] +05/27 01:36:16 INFO: [Worker 0] Worker 0 starting house 2735 (index 25/115) [pipeline.py: 473] +05/27 01:36:16 INFO: [Worker 0] Loaded 1 episodes for house 2735 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 01:36:16 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 01:36:24 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2735_ceiling.xml [task_sampler.py: 797] +05/27 01:36:24 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2735, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 01:36:24 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 01:36:24 INFO: [Worker 0] randomize_scene: Setting poses for 101 objects [json_eval_task_sampler.py: 686] +05/27 01:36:24 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 01:36:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 01:36:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 01:36:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 01:36:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 01:36:24 INFO: [Worker 0] Sampled task 'Pick up the black grenade with graffiti and place it next to the round medal with ribbon' [task_sampler.py: 1136] +05/27 01:36:24 INFO: [Worker 0] Worker 0 house 2735 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 01:36:24 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 01:36:24 WARNING: [Worker 0] Could not find object objatoiletpaper_903ed803932340b19104cf5232c5dcc4_1_0_9 in scene [object_manager.py: 1238] +05/27 01:36:24 WARNING: [Worker 0] Could not find object objatooth_00fa4f74e10b4769830bf60469c65e27_1_0_9 in scene [object_manager.py: 1238] +05/27 01:56:28 INFO: [Worker 0] Worker 0 house 2735 episode 0 object objagrenade_2bf43075c62749e28e1a8c2f0d766c67_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 01:56:32 INFO: [Worker 0] Batching and saving trajectory data for house_2735: 1 episodes [pipeline.py: 233] +05/27 01:56:32 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 01:56:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 01:56:35 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2735 [save_utils.py: 703] +05/27 01:56:35 INFO: [Worker 0] Successfully saved trajectory data for house_2735 in 2.87s (batch: 2.78s, save: 0.09s) [pipeline.py: 280] +05/27 01:56:35 WARNING: [Worker 0] No trajectory data to save for house_2735 [pipeline.py: 229] +05/27 01:56:35 INFO: [Worker 0] Worker 0 completed house 2735: 0/1 successful episodes [pipeline.py: 1243] +05/27 01:56:35 INFO: [Worker 0] Worker 0 starting house 2842 (index 26/115) [pipeline.py: 473] +05/27 01:56:35 INFO: [Worker 0] Loaded 1 episodes for house 2842 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 01:56:35 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 01:57:08 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2842_ceiling.xml [task_sampler.py: 797] +05/27 01:57:08 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2842, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 01:57:08 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 01:57:08 INFO: [Worker 0] randomize_scene: Setting poses for 67 objects [json_eval_task_sampler.py: 686] +05/27 01:57:08 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 01:57:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 01:57:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 01:57:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 01:57:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 01:57:08 INFO: [Worker 0] Sampled task 'Pick up the yellow geiger counter with antennas and place it next to the flat brown h-shaped rectangular piece' [task_sampler.py: 1136] +05/27 01:57:08 INFO: [Worker 0] Worker 0 house 2842 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 01:57:08 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 02:12:00 INFO: [Worker 0] Worker 0 house 2842 episode 0 object objageigercounter_fdbe3ec34d3940989088368c1d29eebb_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 02:12:04 INFO: [Worker 0] Batching and saving trajectory data for house_2842: 1 episodes [pipeline.py: 233] +05/27 02:12:04 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 02:12:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 02:12:07 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2842 [save_utils.py: 703] +05/27 02:12:07 INFO: [Worker 0] Successfully saved trajectory data for house_2842 in 2.90s (batch: 2.81s, save: 0.09s) [pipeline.py: 280] +05/27 02:12:08 WARNING: [Worker 0] No trajectory data to save for house_2842 [pipeline.py: 229] +05/27 02:12:08 INFO: [Worker 0] Worker 0 completed house 2842: 0/1 successful episodes [pipeline.py: 1243] +05/27 02:12:08 INFO: [Worker 0] Worker 0 starting house 2914 (index 27/115) [pipeline.py: 473] +05/27 02:12:08 INFO: [Worker 0] Loaded 1 episodes for house 2914 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 02:12:08 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 02:12:11 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2914_ceiling.xml [task_sampler.py: 797] +05/27 02:12:11 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2914, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 02:12:11 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 02:12:11 INFO: [Worker 0] randomize_scene: Setting poses for 42 objects [json_eval_task_sampler.py: 686] +05/27 02:12:11 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 02:12:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 02:12:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 02:12:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 02:12:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 02:12:11 INFO: [Worker 0] Sampled task 'Pick up the bronze statue of nude female and place it next to the bulbous shiny gold metallic vase' [task_sampler.py: 1136] +05/27 02:12:11 INFO: [Worker 0] Worker 0 house 2914 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 02:12:11 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 02:13:51 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 02:24:10 INFO: [Worker 0] Worker 0 house 2914 episode 0 object statue_cf03a53cab61be46a9663efe8cfd6045_1_0_4 completed with success=False [pipeline.py: 1114] +05/27 02:24:14 INFO: [Worker 0] Batching and saving trajectory data for house_2914: 1 episodes [pipeline.py: 233] +05/27 02:24:14 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 02:24:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 02:24:16 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2914 [save_utils.py: 703] +05/27 02:24:16 INFO: [Worker 0] Successfully saved trajectory data for house_2914 in 2.20s (batch: 2.11s, save: 0.09s) [pipeline.py: 280] +05/27 02:24:16 WARNING: [Worker 0] No trajectory data to save for house_2914 [pipeline.py: 229] +05/27 02:24:16 INFO: [Worker 0] Worker 0 completed house 2914: 0/1 successful episodes [pipeline.py: 1243] +05/27 02:24:16 INFO: [Worker 0] Worker 0 starting house 3041 (index 28/115) [pipeline.py: 473] +05/27 02:24:16 INFO: [Worker 0] Loaded 1 episodes for house 3041 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 02:24:16 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 02:24:31 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3041_ceiling.xml [task_sampler.py: 797] +05/27 02:24:31 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3041, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 02:24:31 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 02:24:31 INFO: [Worker 0] randomize_scene: Setting poses for 74 objects [json_eval_task_sampler.py: 686] +05/27 02:24:31 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 02:24:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 02:24:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 02:24:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 02:24:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 02:24:31 INFO: [Worker 0] Sampled task 'Pick up the dark portable gas torch with label and place it next to the green plant with leaves' [task_sampler.py: 1136] +05/27 02:24:31 INFO: [Worker 0] Worker 0 house 3041 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 02:24:31 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 02:28:42 INFO: [Worker 0] Worker 0 house 3041 episode 0 object objagastorch_9d24aac8a4c444a1b440647aa6f96438_1_0_6 completed with success=True [pipeline.py: 1114] +05/27 02:28:46 INFO: [Worker 0] Batching and saving trajectory data for house_3041: 1 episodes [pipeline.py: 233] +05/27 02:28:46 INFO: [Worker 0] Preparing episode data: 105 timesteps [save_utils.py: 284] +05/27 02:28:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 02:28:48 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3041 [save_utils.py: 703] +05/27 02:28:48 INFO: [Worker 0] Successfully saved trajectory data for house_3041 in 2.60s (batch: 2.56s, save: 0.04s) [pipeline.py: 280] +05/27 02:28:49 WARNING: [Worker 0] No trajectory data to save for house_3041 [pipeline.py: 229] +05/27 02:28:49 INFO: [Worker 0] Worker 0 completed house 3041: 1/1 successful episodes [pipeline.py: 1243] +05/27 02:28:49 INFO: [Worker 0] Worker 0 starting house 3142 (index 29/115) [pipeline.py: 473] +05/27 02:28:49 INFO: [Worker 0] Loaded 1 episodes for house 3142 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 02:28:49 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 02:29:10 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3142_ceiling.xml [task_sampler.py: 797] +05/27 02:29:10 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3142, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 02:29:10 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 02:29:10 INFO: [Worker 0] randomize_scene: Setting poses for 93 objects [json_eval_task_sampler.py: 686] +05/27 02:29:10 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 02:29:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 02:29:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 02:29:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 02:29:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 02:29:10 INFO: [Worker 0] Sampled task 'Pick up the orange blowtorch and place it next to the purple crystal formation on base' [task_sampler.py: 1136] +05/27 02:29:10 INFO: [Worker 0] Worker 0 house 3142 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 02:29:10 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 02:29:10 WARNING: [Worker 0] Could not find object objanoveltytoy_a223cbac2a604c1a8a26331b783a9647_1_0_6 in scene [object_manager.py: 1238] +05/27 02:47:57 INFO: [Worker 0] Worker 0 house 3142 episode 0 object objablowtorch_0d68b80a863f452190dc2119ec0648a9_1_0_4 completed with success=False [pipeline.py: 1114] +05/27 02:48:01 INFO: [Worker 0] Batching and saving trajectory data for house_3142: 1 episodes [pipeline.py: 233] +05/27 02:48:01 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 02:48:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 02:48:03 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3142 [save_utils.py: 703] +05/27 02:48:03 INFO: [Worker 0] Successfully saved trajectory data for house_3142 in 2.28s (batch: 2.19s, save: 0.09s) [pipeline.py: 280] +05/27 02:48:04 WARNING: [Worker 0] No trajectory data to save for house_3142 [pipeline.py: 229] +05/27 02:48:04 INFO: [Worker 0] Worker 0 completed house 3142: 0/1 successful episodes [pipeline.py: 1243] +05/27 02:48:04 INFO: [Worker 0] Worker 0 starting house 3233 (index 30/115) [pipeline.py: 473] +05/27 02:48:04 INFO: [Worker 0] Loaded 1 episodes for house 3233 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 02:48:04 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 02:48:14 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3233_ceiling.xml [task_sampler.py: 797] +05/27 02:48:14 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3233, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 02:48:14 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 02:48:14 INFO: [Worker 0] randomize_scene: Setting poses for 89 objects [json_eval_task_sampler.py: 686] +05/27 02:48:14 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 02:48:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 02:48:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 02:48:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 02:48:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 02:48:14 INFO: [Worker 0] Sampled task 'Pick up the red candy cane shaped hook and place it next to the white stone' [task_sampler.py: 1136] +05/27 02:48:14 INFO: [Worker 0] Worker 0 house 3233 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 02:48:14 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 02:49:51 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 03:07:39 INFO: [Worker 0] Worker 0 house 3233 episode 0 object objadecorativehook_b879e5c52f244d00a29b91837c5f54c5_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 03:07:42 INFO: [Worker 0] Batching and saving trajectory data for house_3233: 1 episodes [pipeline.py: 233] +05/27 03:07:42 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 03:07:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 03:07:44 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3233 [save_utils.py: 703] +05/27 03:07:44 INFO: [Worker 0] Successfully saved trajectory data for house_3233 in 2.26s (batch: 2.17s, save: 0.09s) [pipeline.py: 280] +05/27 03:07:44 WARNING: [Worker 0] No trajectory data to save for house_3233 [pipeline.py: 229] +05/27 03:07:44 INFO: [Worker 0] Worker 0 completed house 3233: 0/1 successful episodes [pipeline.py: 1243] +05/27 03:07:44 INFO: [Worker 0] Worker 0 starting house 3282 (index 31/115) [pipeline.py: 473] +05/27 03:07:44 INFO: [Worker 0] Loaded 1 episodes for house 3282 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 03:07:44 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 03:07:48 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3282_ceiling.xml [task_sampler.py: 797] +05/27 03:07:48 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3282, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 03:07:48 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 03:07:48 INFO: [Worker 0] randomize_scene: Setting poses for 57 objects [json_eval_task_sampler.py: 686] +05/27 03:07:49 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 03:07:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 03:07:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 03:07:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 03:07:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 03:07:49 INFO: [Worker 0] Sampled task 'Pick up the bowl and place it next to the slim blue cell phone with pattern' [task_sampler.py: 1136] +05/27 03:07:49 INFO: [Worker 0] Worker 0 house 3282 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 03:07:49 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 03:07:49 WARNING: [Worker 0] Could not find object objaclimbingshoe_6612b1e3ee2b4e08952f6bf2b26bd75a_2_0_3 in scene [object_manager.py: 1238] +05/27 03:07:49 WARNING: [Worker 0] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_2_0_3 in scene [object_manager.py: 1238] +05/27 03:23:06 INFO: [Worker 0] Worker 0 house 3282 episode 0 object bowl_2f9f64388a995199e35022d1cbe33117_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 03:23:10 INFO: [Worker 0] Batching and saving trajectory data for house_3282: 1 episodes [pipeline.py: 233] +05/27 03:23:10 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 03:23:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 03:23:13 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3282 [save_utils.py: 703] +05/27 03:23:13 INFO: [Worker 0] Successfully saved trajectory data for house_3282 in 2.82s (batch: 2.73s, save: 0.09s) [pipeline.py: 280] +05/27 03:23:13 WARNING: [Worker 0] No trajectory data to save for house_3282 [pipeline.py: 229] +05/27 03:23:13 INFO: [Worker 0] Worker 0 completed house 3282: 0/1 successful episodes [pipeline.py: 1243] +05/27 03:23:13 INFO: [Worker 0] Worker 0 starting house 3364 (index 32/115) [pipeline.py: 473] +05/27 03:23:13 INFO: [Worker 0] Loaded 1 episodes for house 3364 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 03:23:13 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 03:23:28 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3364_ceiling.xml [task_sampler.py: 797] +05/27 03:23:28 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3364, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 03:23:28 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 03:23:28 INFO: [Worker 0] randomize_scene: Setting poses for 70 objects [json_eval_task_sampler.py: 686] +05/27 03:23:28 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 03:23:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 03:23:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 03:23:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 03:23:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 03:23:28 INFO: [Worker 0] Sampled task 'Pick up the dark handle magnifying glass and place it next to the yellow handheld device with antenna' [task_sampler.py: 1136] +05/27 03:23:28 INFO: [Worker 0] Worker 0 house 3364 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 03:23:28 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 03:23:28 WARNING: [Worker 0] Could not find object objatapedispenser_a4dda5be59374f9eabc8185a43e88611_1_0_5 in scene [object_manager.py: 1238] +05/27 03:41:27 INFO: [Worker 0] Worker 0 house 3364 episode 0 object objamagnifyingglass_46e565bd25934ef4a25f98c7b237fcb6_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 03:41:30 INFO: [Worker 0] Batching and saving trajectory data for house_3364: 1 episodes [pipeline.py: 233] +05/27 03:41:30 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 03:41:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 03:41:32 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3364 [save_utils.py: 703] +05/27 03:41:32 INFO: [Worker 0] Successfully saved trajectory data for house_3364 in 2.20s (batch: 2.12s, save: 0.09s) [pipeline.py: 280] +05/27 03:41:32 WARNING: [Worker 0] No trajectory data to save for house_3364 [pipeline.py: 229] +05/27 03:41:32 INFO: [Worker 0] Worker 0 completed house 3364: 0/1 successful episodes [pipeline.py: 1243] +05/27 03:41:32 INFO: [Worker 0] Worker 0 starting house 3412 (index 33/115) [pipeline.py: 473] +05/27 03:41:32 INFO: [Worker 0] Loaded 1 episodes for house 3412 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 03:41:32 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 03:41:53 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/27 03:41:56 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3412_ceiling.xml [task_sampler.py: 797] +05/27 03:41:56 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3412, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 03:41:56 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 03:41:56 INFO: [Worker 0] randomize_scene: Setting poses for 70 objects [json_eval_task_sampler.py: 686] +05/27 03:41:56 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 03:41:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 03:41:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 03:41:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 03:41:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 03:41:56 INFO: [Worker 0] Sampled task 'Pick up the shiny gold candy wrapper with twists and place it next to the round wooden bowl' [task_sampler.py: 1136] +05/27 03:41:56 INFO: [Worker 0] Worker 0 house 3412 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 03:41:56 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 03:41:56 WARNING: [Worker 0] Could not find object objarunningshoe_78592db7cad94648b66edb363c5add2c_1_0_5 in scene [object_manager.py: 1238] +05/27 03:41:56 WARNING: [Worker 0] Could not find object objadecorativeemblem_72eedb60542841c0a11d429d19854814_1_0_5 in scene [object_manager.py: 1238] +05/27 03:41:56 WARNING: [Worker 0] Could not find object objalighter_90536f2654814b4bb73d97a0020408b4_1_0_5 in scene [object_manager.py: 1238] +05/27 03:41:56 WARNING: [Worker 0] Could not find object objalighter_26517aa3be4441e290b40e57173cae71_1_0_5 in scene [object_manager.py: 1238] +05/27 03:41:56 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene [object_manager.py: 1238] +05/27 03:43:32 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 03:57:07 INFO: [Worker 0] Worker 0 house 3412 episode 0 object objacandywrapper_f63a19caad054232bada31bf9dda010b_1_0_8 completed with success=False [pipeline.py: 1114] +05/27 03:57:11 INFO: [Worker 0] Batching and saving trajectory data for house_3412: 1 episodes [pipeline.py: 233] +05/27 03:57:11 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 03:57:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 03:57:14 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3412 [save_utils.py: 703] +05/27 03:57:14 INFO: [Worker 0] Successfully saved trajectory data for house_3412 in 2.81s (batch: 2.72s, save: 0.09s) [pipeline.py: 280] +05/27 03:57:14 WARNING: [Worker 0] No trajectory data to save for house_3412 [pipeline.py: 229] +05/27 03:57:14 INFO: [Worker 0] Worker 0 completed house 3412: 0/1 successful episodes [pipeline.py: 1243] +05/27 03:57:14 INFO: [Worker 0] Worker 0 starting house 3502 (index 34/115) [pipeline.py: 473] +05/27 03:57:14 INFO: [Worker 0] Loaded 1 episodes for house 3502 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 03:57:14 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 03:57:18 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3502_ceiling.xml [task_sampler.py: 797] +05/27 03:57:18 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3502, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 03:57:18 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 03:57:18 INFO: [Worker 0] randomize_scene: Setting poses for 55 objects [json_eval_task_sampler.py: 686] +05/27 03:57:18 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 03:57:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 03:57:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 03:57:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 03:57:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 03:57:18 INFO: [Worker 0] Sampled task 'Pick up the pastel scepter and place it next to the rustic stone mallet' [task_sampler.py: 1136] +05/27 03:57:18 INFO: [Worker 0] Worker 0 house 3502 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 03:57:18 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 03:57:19 WARNING: [Worker 0] Could not find object objadecorativeribbon_3be787e16e6a4f5fb8f4830d0b2cb03b_2_0_3 in scene [object_manager.py: 1238] +05/27 03:57:19 WARNING: [Worker 0] Could not find object objadentures_46145e0221e94a3185b215c07d0f4340_1_0_3 in scene [object_manager.py: 1238] +05/27 03:58:53 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 04:10:42 INFO: [Worker 0] Worker 0 house 3502 episode 0 object objadecorativescepter_325bf6c9f06a4438b0cd408c3ba59c95_1_0_4 completed with success=False [pipeline.py: 1114] +05/27 04:10:46 INFO: [Worker 0] Batching and saving trajectory data for house_3502: 1 episodes [pipeline.py: 233] +05/27 04:10:46 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 04:10:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 04:10:49 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3502 [save_utils.py: 703] +05/27 04:10:49 INFO: [Worker 0] Successfully saved trajectory data for house_3502 in 2.92s (batch: 2.83s, save: 0.09s) [pipeline.py: 280] +05/27 04:10:50 WARNING: [Worker 0] No trajectory data to save for house_3502 [pipeline.py: 229] +05/27 04:10:50 INFO: [Worker 0] Worker 0 completed house 3502: 0/1 successful episodes [pipeline.py: 1243] +05/27 04:10:50 INFO: [Worker 0] Worker 0 starting house 3585 (index 35/115) [pipeline.py: 473] +05/27 04:10:50 INFO: [Worker 0] Loaded 1 episodes for house 3585 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 04:10:50 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 04:10:58 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3585_ceiling.xml [task_sampler.py: 797] +05/27 04:10:58 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3585, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 04:10:58 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 04:10:58 INFO: [Worker 0] randomize_scene: Setting poses for 23 objects [json_eval_task_sampler.py: 686] +05/27 04:10:58 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 04:10:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 04:10:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 04:10:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 04:10:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 04:10:58 INFO: [Worker 0] Sampled task 'Pick up the yellow teardrop weight with hanging loop and place it next to the translucent ergonomic spray bottle' [task_sampler.py: 1136] +05/27 04:10:58 INFO: [Worker 0] Worker 0 house 3585 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 04:10:58 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 04:19:06 INFO: [Worker 0] Worker 0 house 3585 episode 0 object objaweight_675cbe00e63b432f8c83c3c5f7e01763_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 04:19:10 INFO: [Worker 0] Batching and saving trajectory data for house_3585: 1 episodes [pipeline.py: 233] +05/27 04:19:10 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 04:19:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 04:19:13 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3585 [save_utils.py: 703] +05/27 04:19:13 INFO: [Worker 0] Successfully saved trajectory data for house_3585 in 2.88s (batch: 2.79s, save: 0.09s) [pipeline.py: 280] +05/27 04:19:14 WARNING: [Worker 0] No trajectory data to save for house_3585 [pipeline.py: 229] +05/27 04:19:14 INFO: [Worker 0] Worker 0 completed house 3585: 0/1 successful episodes [pipeline.py: 1243] +05/27 04:19:14 INFO: [Worker 0] Worker 0 starting house 3688 (index 36/115) [pipeline.py: 473] +05/27 04:19:14 INFO: [Worker 0] Loaded 1 episodes for house 3688 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 04:19:14 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 04:19:18 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3688_ceiling.xml [task_sampler.py: 797] +05/27 04:19:18 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3688, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 04:19:18 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 04:19:18 INFO: [Worker 0] randomize_scene: Setting poses for 20 objects [json_eval_task_sampler.py: 686] +05/27 04:19:18 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 04:19:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 04:19:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 04:19:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 04:19:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 04:19:18 INFO: [Worker 0] Sampled task 'Pick up the instrumentation and place it next to the soap dispenser' [task_sampler.py: 1136] +05/27 04:19:18 INFO: [Worker 0] Worker 0 house 3688 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 04:19:18 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 04:20:55 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 04:28:09 INFO: [Worker 0] Worker 0 house 3688 episode 0 object objadispenser_dae48a392c5a4f3aa00235e664ee7d4d_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 04:28:12 INFO: [Worker 0] Batching and saving trajectory data for house_3688: 1 episodes [pipeline.py: 233] +05/27 04:28:12 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 04:28:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 04:28:15 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3688 [save_utils.py: 703] +05/27 04:28:15 INFO: [Worker 0] Successfully saved trajectory data for house_3688 in 2.19s (batch: 2.10s, save: 0.09s) [pipeline.py: 280] +05/27 04:28:15 WARNING: [Worker 0] No trajectory data to save for house_3688 [pipeline.py: 229] +05/27 04:28:15 INFO: [Worker 0] Worker 0 completed house 3688: 0/1 successful episodes [pipeline.py: 1243] +05/27 04:28:15 INFO: [Worker 0] Worker 0 starting house 3755 (index 37/115) [pipeline.py: 473] +05/27 04:28:15 INFO: [Worker 0] Loaded 1 episodes for house 3755 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 04:28:15 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 04:28:21 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3755_ceiling.xml [task_sampler.py: 797] +05/27 04:28:21 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3755, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 04:28:21 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 04:28:21 INFO: [Worker 0] randomize_scene: Setting poses for 73 objects [json_eval_task_sampler.py: 686] +05/27 04:28:21 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 04:28:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 04:28:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 04:28:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 04:28:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 04:28:21 INFO: [Worker 0] Sampled task 'Pick up the long green dragon figure with horns and place it next to the medium shiny round bowl' [task_sampler.py: 1136] +05/27 04:28:21 INFO: [Worker 0] Worker 0 house 3755 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 04:28:21 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 04:45:34 INFO: [Worker 0] Worker 0 house 3755 episode 0 object objadecorativedragonfigure_d3f1a89770ff44ce8ff2655ab4c458a7_1_0_8 completed with success=False [pipeline.py: 1114] +05/27 04:45:37 INFO: [Worker 0] Batching and saving trajectory data for house_3755: 1 episodes [pipeline.py: 233] +05/27 04:45:37 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 04:45:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 04:45:39 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3755 [save_utils.py: 703] +05/27 04:45:39 INFO: [Worker 0] Successfully saved trajectory data for house_3755 in 2.23s (batch: 2.14s, save: 0.09s) [pipeline.py: 280] +05/27 04:45:40 WARNING: [Worker 0] No trajectory data to save for house_3755 [pipeline.py: 229] +05/27 04:45:40 INFO: [Worker 0] Worker 0 completed house 3755: 0/1 successful episodes [pipeline.py: 1243] +05/27 04:45:40 INFO: [Worker 0] Worker 0 starting house 3884 (index 38/115) [pipeline.py: 473] +05/27 04:45:40 INFO: [Worker 0] Loaded 1 episodes for house 3884 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 04:45:40 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 04:45:47 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3884_ceiling.xml [task_sampler.py: 797] +05/27 04:45:47 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3884, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 04:45:47 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 04:45:47 INFO: [Worker 0] randomize_scene: Setting poses for 47 objects [json_eval_task_sampler.py: 686] +05/27 04:45:47 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 04:45:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 04:45:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 04:45:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 04:45:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 04:45:47 INFO: [Worker 0] Sampled task 'Pick up the small glossy turquoise eye of horus amulet and place it next to the orange fire truck with ladder' [task_sampler.py: 1136] +05/27 04:45:47 INFO: [Worker 0] Worker 0 house 3884 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 04:45:47 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 04:45:47 WARNING: [Worker 0] Could not find object objaminiaturetower_0780a7e5369442c3967681084a046588_1_0_5 in scene [object_manager.py: 1238] +05/27 04:45:47 WARNING: [Worker 0] Could not find object objastopwatch_39d799f20f4041228704749c854b60af_1_0_5 in scene [object_manager.py: 1238] +05/27 04:45:47 WARNING: [Worker 0] Could not find object objaelectricalsocket_097b7c598d9a41188d96f57713357b9b_1_0_8 in scene [object_manager.py: 1238] +05/27 04:45:47 WARNING: [Worker 0] Could not find object objamarkerpen_68d9f095a5164004a8e16858f1359be5_1_0_9 in scene [object_manager.py: 1238] +05/27 04:45:47 WARNING: [Worker 0] Could not find object objatoyfish_7a75c224806a4d04a7a9ebba517ad100_1_0_9 in scene [object_manager.py: 1238] +05/27 04:47:28 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 04:59:29 INFO: [Worker 0] Worker 0 house 3884 episode 0 object objaamulet_7300d219ed944585ace4b2509bef4f6e_1_0_4 completed with success=False [pipeline.py: 1114] +05/27 04:59:33 INFO: [Worker 0] Batching and saving trajectory data for house_3884: 1 episodes [pipeline.py: 233] +05/27 04:59:33 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 04:59:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 04:59:36 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3884 [save_utils.py: 703] +05/27 04:59:36 INFO: [Worker 0] Successfully saved trajectory data for house_3884 in 2.91s (batch: 2.82s, save: 0.09s) [pipeline.py: 280] +05/27 04:59:36 WARNING: [Worker 0] No trajectory data to save for house_3884 [pipeline.py: 229] +05/27 04:59:36 INFO: [Worker 0] Worker 0 completed house 3884: 0/1 successful episodes [pipeline.py: 1243] +05/27 04:59:36 INFO: [Worker 0] Worker 0 starting house 3925 (index 39/115) [pipeline.py: 473] +05/27 04:59:36 INFO: [Worker 0] Loaded 2 episodes for house 3925 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 04:59:36 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 04:59:42 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3925_ceiling.xml [task_sampler.py: 797] +05/27 04:59:42 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3925, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 04:59:42 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 04:59:42 INFO: [Worker 0] randomize_scene: Setting poses for 72 objects [json_eval_task_sampler.py: 686] +05/27 04:59:42 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 04:59:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 04:59:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 04:59:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 04:59:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 04:59:42 INFO: [Worker 0] Sampled task 'Pick up the vintage cast iron clothes iron with handle and place it next to the green apple with stem' [task_sampler.py: 1136] +05/27 04:59:42 INFO: [Worker 0] Worker 0 house 3925 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/27 04:59:42 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 04:59:42 WARNING: [Worker 0] Could not find object vase_d568e4c5c2948c69c05d527517276b06_1_0_8 in scene [object_manager.py: 1238] +05/27 04:59:42 WARNING: [Worker 0] Could not find object objatoyhouse_7bf471236e644443be26715ddcfba914_1_0_9 in scene [object_manager.py: 1238] +05/27 04:59:42 WARNING: [Worker 0] Could not find object objaheadband_a45e0fe1df584ab4b49c35ef88bd90b0_1_0_9 in scene [object_manager.py: 1238] +05/27 04:59:42 WARNING: [Worker 0] Could not find object objasandal_55ac6b700c674f0ba07768f14c80d9d2_1_0_9 in scene [object_manager.py: 1238] +05/27 05:16:36 INFO: [Worker 0] Worker 0 house 3925 episode 0 object objaclothesiron_33751730969346df8aa289d31228f3fb_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 05:16:39 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 05:16:44 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3925_ceiling.xml [task_sampler.py: 797] +05/27 05:16:44 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3925, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 05:16:44 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 05:16:44 INFO: [Worker 0] randomize_scene: Setting poses for 72 objects [json_eval_task_sampler.py: 686] +05/27 05:16:44 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 05:16:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 05:16:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 05:16:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 05:16:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 05:16:45 INFO: [Worker 0] Sampled task 'Pick up the rusty vintage kerosene lantern with handle and place it next to the teal van with flowers' [task_sampler.py: 1136] +05/27 05:16:45 INFO: [Worker 0] Worker 0 house 3925 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/27 05:16:45 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 05:16:45 WARNING: [Worker 0] Could not find object vase_d568e4c5c2948c69c05d527517276b06_1_0_8 in scene [object_manager.py: 1238] +05/27 05:16:45 WARNING: [Worker 0] Could not find object objatoyhouse_7bf471236e644443be26715ddcfba914_1_0_9 in scene [object_manager.py: 1238] +05/27 05:16:45 WARNING: [Worker 0] Could not find object objaheadband_a45e0fe1df584ab4b49c35ef88bd90b0_1_0_9 in scene [object_manager.py: 1238] +05/27 05:16:45 WARNING: [Worker 0] Could not find object objasandal_55ac6b700c674f0ba07768f14c80d9d2_1_0_9 in scene [object_manager.py: 1238] +05/27 05:18:23 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 05:33:51 INFO: [Worker 0] Worker 0 house 3925 episode 1 object objalantern_a1de8398597a4575a9c9a9f0a6e4dd2b_1_0_3 completed with success=False [pipeline.py: 1114] +05/27 05:33:55 INFO: [Worker 0] Batching and saving trajectory data for house_3925: 2 episodes [pipeline.py: 233] +05/27 05:33:55 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 05:33:58 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 05:34:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 05:34:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 05:34:01 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3925 [save_utils.py: 703] +05/27 05:34:01 INFO: [Worker 0] Successfully saved trajectory data for house_3925 in 5.69s (batch: 5.51s, save: 0.17s) [pipeline.py: 280] +05/27 05:34:01 WARNING: [Worker 0] No trajectory data to save for house_3925 [pipeline.py: 229] +05/27 05:34:01 INFO: [Worker 0] Worker 0 completed house 3925: 0/2 successful episodes [pipeline.py: 1243] +05/27 05:34:01 INFO: [Worker 0] Worker 0 starting house 4018 (index 40/115) [pipeline.py: 473] +05/27 05:34:01 INFO: [Worker 0] Loaded 1 episodes for house 4018 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 05:34:01 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 05:34:06 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4018_ceiling.xml [task_sampler.py: 797] +05/27 05:34:06 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4018, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 05:34:06 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 05:34:06 INFO: [Worker 0] randomize_scene: Setting poses for 78 objects [json_eval_task_sampler.py: 686] +05/27 05:34:06 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 05:34:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 05:34:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 05:34:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 05:34:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 05:34:06 INFO: [Worker 0] Sampled task 'Pick up the long rusty metal rail with notches and place it next to the laptop computer' [task_sampler.py: 1136] +05/27 05:34:06 INFO: [Worker 0] Worker 0 house 4018 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 05:34:07 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 05:34:07 WARNING: [Worker 0] Could not find object objapapertowelroll_d62583f82dfe46f0a8a8255d35a6de62_1_0_5 in scene [object_manager.py: 1238] +05/27 05:34:07 WARNING: [Worker 0] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene [object_manager.py: 1238] +05/27 05:35:47 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 05:53:05 INFO: [Worker 0] Worker 0 house 4018 episode 0 object objametalrail_9643f982b1f84927af2ecd167a1ce232_1_0_3 completed with success=False [pipeline.py: 1114] +05/27 05:53:09 INFO: [Worker 0] Batching and saving trajectory data for house_4018: 1 episodes [pipeline.py: 233] +05/27 05:53:09 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 05:53:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 05:53:11 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4018 [save_utils.py: 703] +05/27 05:53:11 INFO: [Worker 0] Successfully saved trajectory data for house_4018 in 2.92s (batch: 2.82s, save: 0.09s) [pipeline.py: 280] +05/27 05:53:12 WARNING: [Worker 0] No trajectory data to save for house_4018 [pipeline.py: 229] +05/27 05:53:12 INFO: [Worker 0] Worker 0 completed house 4018: 0/1 successful episodes [pipeline.py: 1243] +05/27 05:53:12 INFO: [Worker 0] Worker 0 starting house 4108 (index 41/115) [pipeline.py: 473] +05/27 05:53:12 INFO: [Worker 0] Loaded 1 episodes for house 4108 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 05:53:12 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 05:53:17 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4108_ceiling.xml [task_sampler.py: 797] +05/27 05:53:17 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4108, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 05:53:17 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 05:53:17 INFO: [Worker 0] randomize_scene: Setting poses for 79 objects [json_eval_task_sampler.py: 686] +05/27 05:53:17 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 05:53:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 05:53:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 05:53:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 05:53:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 05:53:17 INFO: [Worker 0] Sampled task 'Pick up the tall metal lock and place it next to the simple light brown ceramic bowl' [task_sampler.py: 1136] +05/27 05:53:17 INFO: [Worker 0] Worker 0 house 4108 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 05:53:17 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 05:54:54 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 06:10:27 INFO: [Worker 0] Worker 0 house 4108 episode 0 object objasecuritydevice_dd640cbe9b2444ecb928d3b5b0e67956_1_0_8 completed with success=False [pipeline.py: 1114] +05/27 06:10:30 INFO: [Worker 0] Batching and saving trajectory data for house_4108: 1 episodes [pipeline.py: 233] +05/27 06:10:30 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 06:10:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 06:10:32 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4108 [save_utils.py: 703] +05/27 06:10:32 INFO: [Worker 0] Successfully saved trajectory data for house_4108 in 2.31s (batch: 2.19s, save: 0.12s) [pipeline.py: 280] +05/27 06:10:33 WARNING: [Worker 0] No trajectory data to save for house_4108 [pipeline.py: 229] +05/27 06:10:33 INFO: [Worker 0] Worker 0 completed house 4108: 0/1 successful episodes [pipeline.py: 1243] +05/27 06:10:33 INFO: [Worker 0] Worker 0 starting house 4192 (index 42/115) [pipeline.py: 473] +05/27 06:10:33 INFO: [Worker 0] Loaded 1 episodes for house 4192 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 06:10:33 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 06:10:35 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4192_ceiling.xml [task_sampler.py: 797] +05/27 06:10:35 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4192, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 06:10:35 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 06:10:35 INFO: [Worker 0] randomize_scene: Setting poses for 24 objects [json_eval_task_sampler.py: 686] +05/27 06:10:35 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 06:10:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 06:10:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 06:10:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 06:10:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 06:10:35 INFO: [Worker 0] Sampled task 'Pick up the dark wand with red crystal and place it next to the glass' [task_sampler.py: 1136] +05/27 06:10:35 INFO: [Worker 0] Worker 0 house 4192 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 06:10:35 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 06:12:11 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 06:19:09 INFO: [Worker 0] Worker 0 house 4192 episode 0 object objawand_2ae875cdb30240feb83d769b134115b2_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 06:19:13 INFO: [Worker 0] Batching and saving trajectory data for house_4192: 1 episodes [pipeline.py: 233] +05/27 06:19:13 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 06:19:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 06:19:16 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4192 [save_utils.py: 703] +05/27 06:19:16 INFO: [Worker 0] Successfully saved trajectory data for house_4192 in 2.92s (batch: 2.83s, save: 0.09s) [pipeline.py: 280] +05/27 06:19:16 WARNING: [Worker 0] No trajectory data to save for house_4192 [pipeline.py: 229] +05/27 06:19:16 INFO: [Worker 0] Worker 0 completed house 4192: 0/1 successful episodes [pipeline.py: 1243] +05/27 06:19:16 INFO: [Worker 0] Worker 0 starting house 4263 (index 43/115) [pipeline.py: 473] +05/27 06:19:16 INFO: [Worker 0] Loaded 1 episodes for house 4263 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 06:19:16 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 06:19:32 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4263_ceiling.xml [task_sampler.py: 797] +05/27 06:19:32 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4263, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 06:19:32 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 06:19:32 INFO: [Worker 0] randomize_scene: Setting poses for 95 objects [json_eval_task_sampler.py: 686] +05/27 06:19:32 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 06:19:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 06:19:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 06:19:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 06:19:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 06:19:32 INFO: [Worker 0] Sampled task 'Pick up the vintage portable radio and place it next to the bust of woman statue' [task_sampler.py: 1136] +05/27 06:19:32 INFO: [Worker 0] Worker 0 house 4263 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 06:19:32 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 06:19:33 WARNING: [Worker 0] Could not find object objaemblem_f948740713184d839e714a860cf8e997_1_0_5 in scene [object_manager.py: 1238] +05/27 06:19:33 WARNING: [Worker 0] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene [object_manager.py: 1238] +05/27 06:41:41 INFO: [Worker 0] Worker 0 house 4263 episode 0 object objaportableradio_3c64c2aedd5e4eb589011d146db6a282_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 06:41:45 INFO: [Worker 0] Batching and saving trajectory data for house_4263: 1 episodes [pipeline.py: 233] +05/27 06:41:45 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 06:41:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 06:41:48 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4263 [save_utils.py: 703] +05/27 06:41:48 INFO: [Worker 0] Successfully saved trajectory data for house_4263 in 2.92s (batch: 2.80s, save: 0.12s) [pipeline.py: 280] +05/27 06:41:49 WARNING: [Worker 0] No trajectory data to save for house_4263 [pipeline.py: 229] +05/27 06:41:49 INFO: [Worker 0] Worker 0 completed house 4263: 0/1 successful episodes [pipeline.py: 1243] +05/27 06:41:49 INFO: [Worker 0] Worker 0 starting house 4303 (index 44/115) [pipeline.py: 473] +05/27 06:41:49 INFO: [Worker 0] Loaded 1 episodes for house 4303 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 06:41:49 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 06:41:54 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4303_ceiling.xml [task_sampler.py: 797] +05/27 06:41:54 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4303, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 06:41:54 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 06:41:54 INFO: [Worker 0] randomize_scene: Setting poses for 59 objects [json_eval_task_sampler.py: 686] +05/27 06:41:54 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 06:41:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 06:41:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 06:41:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 06:41:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 06:41:54 INFO: [Worker 0] Sampled task 'Pick up the green pliers and place it next to the blue vase' [task_sampler.py: 1136] +05/27 06:41:54 INFO: [Worker 0] Worker 0 house 4303 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 06:41:54 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 06:41:54 WARNING: [Worker 0] Could not find object egg_aeca24b46189bee76c22ec0349729d60_1_0_8 in scene [object_manager.py: 1238] +05/27 06:56:14 INFO: [Worker 0] Worker 0 house 4303 episode 0 object objaneedlenosepliers_0079418517784f2bbf0aec6fd8de3cde_1_0_8 completed with success=False [pipeline.py: 1114] +05/27 06:56:18 INFO: [Worker 0] Batching and saving trajectory data for house_4303: 1 episodes [pipeline.py: 233] +05/27 06:56:18 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 06:56:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 06:56:21 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4303 [save_utils.py: 703] +05/27 06:56:21 INFO: [Worker 0] Successfully saved trajectory data for house_4303 in 2.82s (batch: 2.73s, save: 0.09s) [pipeline.py: 280] +05/27 06:56:22 WARNING: [Worker 0] No trajectory data to save for house_4303 [pipeline.py: 229] +05/27 06:56:22 INFO: [Worker 0] Worker 0 completed house 4303: 0/1 successful episodes [pipeline.py: 1243] +05/27 06:56:22 INFO: [Worker 0] Worker 0 starting house 4348 (index 45/115) [pipeline.py: 473] +05/27 06:56:22 INFO: [Worker 0] Loaded 1 episodes for house 4348 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 06:56:22 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 06:56:23 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4348_ceiling.xml [task_sampler.py: 797] +05/27 06:56:23 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4348, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 06:56:23 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 06:56:23 INFO: [Worker 0] randomize_scene: Setting poses for 17 objects [json_eval_task_sampler.py: 686] +05/27 06:56:23 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 06:56:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 06:56:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 06:56:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 06:56:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 06:56:23 INFO: [Worker 0] Sampled task 'Pick up the ciabatta olive bread package and place it next to the glossy dark hand' [task_sampler.py: 1136] +05/27 06:56:23 INFO: [Worker 0] Worker 0 house 4348 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 06:56:23 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 06:58:05 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 07:03:29 INFO: [Worker 0] Worker 0 house 4348 episode 0 object objapackagedfood_d9e056fc90d44ed080ac692526cb39d5_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 07:03:34 INFO: [Worker 0] Batching and saving trajectory data for house_4348: 1 episodes [pipeline.py: 233] +05/27 07:03:34 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 07:03:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 07:03:37 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4348 [save_utils.py: 703] +05/27 07:03:37 INFO: [Worker 0] Successfully saved trajectory data for house_4348 in 2.95s (batch: 2.85s, save: 0.09s) [pipeline.py: 280] +05/27 07:03:37 WARNING: [Worker 0] No trajectory data to save for house_4348 [pipeline.py: 229] +05/27 07:03:37 INFO: [Worker 0] Worker 0 completed house 4348: 0/1 successful episodes [pipeline.py: 1243] +05/27 07:03:37 INFO: [Worker 0] Worker 0 starting house 4444 (index 46/115) [pipeline.py: 473] +05/27 07:03:37 INFO: [Worker 0] Loaded 1 episodes for house 4444 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 07:03:37 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 07:03:44 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4444_ceiling.xml [task_sampler.py: 797] +05/27 07:03:44 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4444, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 07:03:44 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 07:03:44 INFO: [Worker 0] randomize_scene: Setting poses for 80 objects [json_eval_task_sampler.py: 686] +05/27 07:03:44 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 07:03:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 07:03:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 07:03:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 07:03:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 07:03:44 INFO: [Worker 0] Sampled task 'Pick up the yellow cup and place it next to the white triangular wedge with texture' [task_sampler.py: 1136] +05/27 07:03:44 INFO: [Worker 0] Worker 0 house 4444 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 07:03:44 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 07:03:45 WARNING: [Worker 0] Could not find object objadentures_46145e0221e94a3185b215c07d0f4340_1_0_5 in scene [object_manager.py: 1238] +05/27 07:03:45 WARNING: [Worker 0] Could not find object objawoodentablet_090408c682e348a0ab00d904ae850628_1_0_5 in scene [object_manager.py: 1238] +05/27 07:05:25 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 07:20:45 INFO: [Worker 0] Worker 0 house 4444 episode 0 object objacup_1595f63fbeb3421aa8a261c3815e3512_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 07:20:48 INFO: [Worker 0] Batching and saving trajectory data for house_4444: 1 episodes [pipeline.py: 233] +05/27 07:20:48 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 07:20:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 07:20:50 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4444 [save_utils.py: 703] +05/27 07:20:50 INFO: [Worker 0] Successfully saved trajectory data for house_4444 in 2.24s (batch: 2.15s, save: 0.09s) [pipeline.py: 280] +05/27 07:20:50 WARNING: [Worker 0] No trajectory data to save for house_4444 [pipeline.py: 229] +05/27 07:20:50 INFO: [Worker 0] Worker 0 completed house 4444: 0/1 successful episodes [pipeline.py: 1243] +05/27 07:20:50 INFO: [Worker 0] Worker 0 starting house 4541 (index 47/115) [pipeline.py: 473] +05/27 07:20:50 INFO: [Worker 0] Loaded 1 episodes for house 4541 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 07:20:50 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 07:20:59 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4541_ceiling.xml [task_sampler.py: 797] +05/27 07:20:59 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4541, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 07:20:59 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 07:20:59 INFO: [Worker 0] randomize_scene: Setting poses for 79 objects [json_eval_task_sampler.py: 686] +05/27 07:20:59 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 07:20:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 07:20:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 07:20:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 07:20:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 07:20:59 INFO: [Worker 0] Sampled task 'Pick up the brown fabric spool and place it next to the hardcover book with wood-textured spine' [task_sampler.py: 1136] +05/27 07:20:59 INFO: [Worker 0] Worker 0 house 4541 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 07:20:59 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 07:20:59 WARNING: [Worker 0] Could not find object objalantern_0ec01afc7122493d8e8aecef2951df9c_1_0_5 in scene [object_manager.py: 1238] +05/27 07:20:59 WARNING: [Worker 0] Could not find object objadecorativesymbol_096e1889564d4e9c8836c7805c1ecebf_1_0_5 in scene [object_manager.py: 1238] +05/27 07:38:43 INFO: [Worker 0] Worker 0 house 4541 episode 0 object objafabricroll_3bde9cdce2e5457dac80f941d5ad9397_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 07:38:46 INFO: [Worker 0] Batching and saving trajectory data for house_4541: 1 episodes [pipeline.py: 233] +05/27 07:38:46 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 07:38:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 07:38:48 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4541 [save_utils.py: 703] +05/27 07:38:48 INFO: [Worker 0] Successfully saved trajectory data for house_4541 in 2.22s (batch: 2.13s, save: 0.09s) [pipeline.py: 280] +05/27 07:38:49 WARNING: [Worker 0] No trajectory data to save for house_4541 [pipeline.py: 229] +05/27 07:38:49 INFO: [Worker 0] Worker 0 completed house 4541: 0/1 successful episodes [pipeline.py: 1243] +05/27 07:38:49 INFO: [Worker 0] Worker 0 starting house 4649 (index 48/115) [pipeline.py: 473] +05/27 07:38:49 INFO: [Worker 0] Loaded 1 episodes for house 4649 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 07:38:49 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 07:39:03 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4649_ceiling.xml [task_sampler.py: 797] +05/27 07:39:03 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4649, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 07:39:03 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 07:39:03 INFO: [Worker 0] randomize_scene: Setting poses for 77 objects [json_eval_task_sampler.py: 686] +05/27 07:39:04 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 07:39:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 07:39:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 07:39:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 07:39:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 07:39:04 INFO: [Worker 0] Sampled task 'Pick up the soft taco and place it next to the bulbous shiny gold metallic vase' [task_sampler.py: 1136] +05/27 07:39:04 INFO: [Worker 0] Worker 0 house 4649 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 07:39:04 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 07:39:04 WARNING: [Worker 0] Could not find object objahikingshoe_41c91f680a55496ca83144519402c2f6_1_0_7 in scene [object_manager.py: 1238] +05/27 07:51:47 INFO: [Worker 0] Worker 0 house 4649 episode 0 object objataco_5b8095131eca4914b6dce4e96b290a3f_1_0_8 completed with success=False [pipeline.py: 1114] +05/27 07:51:51 INFO: [Worker 0] Batching and saving trajectory data for house_4649: 1 episodes [pipeline.py: 233] +05/27 07:51:51 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 07:51:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 07:51:53 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4649 [save_utils.py: 703] +05/27 07:51:53 INFO: [Worker 0] Successfully saved trajectory data for house_4649 in 2.85s (batch: 2.75s, save: 0.09s) [pipeline.py: 280] +05/27 07:51:54 WARNING: [Worker 0] No trajectory data to save for house_4649 [pipeline.py: 229] +05/27 07:51:54 INFO: [Worker 0] Worker 0 completed house 4649: 0/1 successful episodes [pipeline.py: 1243] +05/27 07:51:54 INFO: [Worker 0] Worker 0 starting house 4690 (index 49/115) [pipeline.py: 473] +05/27 07:51:54 INFO: [Worker 0] Loaded 1 episodes for house 4690 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 07:51:54 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 07:51:58 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4690_ceiling.xml [task_sampler.py: 797] +05/27 07:51:58 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4690, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 07:51:58 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 07:51:58 INFO: [Worker 0] randomize_scene: Setting poses for 46 objects [json_eval_task_sampler.py: 686] +05/27 07:51:58 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 07:51:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 07:51:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 07:51:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 07:51:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 07:51:58 INFO: [Worker 0] Sampled task 'Pick up the red swiss army knife with tools and place it next to the metal valve' [task_sampler.py: 1136] +05/27 07:51:58 INFO: [Worker 0] Worker 0 house 4690 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 07:51:58 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 08:03:19 INFO: [Worker 0] Worker 0 house 4690 episode 0 object objaswissarmyknife_abf4a9f4cc2040a1a886516c385cf8c3_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 08:03:22 INFO: [Worker 0] Batching and saving trajectory data for house_4690: 1 episodes [pipeline.py: 233] +05/27 08:03:22 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 08:03:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 08:03:25 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4690 [save_utils.py: 703] +05/27 08:03:25 INFO: [Worker 0] Successfully saved trajectory data for house_4690 in 2.23s (batch: 2.14s, save: 0.10s) [pipeline.py: 280] +05/27 08:03:25 WARNING: [Worker 0] No trajectory data to save for house_4690 [pipeline.py: 229] +05/27 08:03:25 INFO: [Worker 0] Worker 0 completed house 4690: 0/1 successful episodes [pipeline.py: 1243] +05/27 08:03:25 INFO: [Worker 0] Worker 0 starting house 4764 (index 50/115) [pipeline.py: 473] +05/27 08:03:25 INFO: [Worker 0] Loaded 1 episodes for house 4764 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 08:03:25 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 08:03:26 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4764_ceiling.xml [task_sampler.py: 797] +05/27 08:03:26 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4764, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 08:03:26 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 08:03:26 INFO: [Worker 0] randomize_scene: Setting poses for 12 objects [json_eval_task_sampler.py: 686] +05/27 08:03:26 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 08:03:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 08:03:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 08:03:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 08:03:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 08:03:26 INFO: [Worker 0] Sampled task 'Pick up the beige cylindrical spray can with blue nozzle and place it next to the medium ripe red tomato with stem' [task_sampler.py: 1136] +05/27 08:03:26 INFO: [Worker 0] Worker 0 house 4764 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 08:03:26 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 08:09:51 INFO: [Worker 0] Worker 0 house 4764 episode 0 object objaspraycan_2a8a6f27693840e8b3990a277c39434e_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 08:09:54 INFO: [Worker 0] Batching and saving trajectory data for house_4764: 1 episodes [pipeline.py: 233] +05/27 08:09:54 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 08:09:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 08:09:56 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4764 [save_utils.py: 703] +05/27 08:09:56 INFO: [Worker 0] Successfully saved trajectory data for house_4764 in 2.24s (batch: 2.15s, save: 0.09s) [pipeline.py: 280] +05/27 08:09:56 WARNING: [Worker 0] No trajectory data to save for house_4764 [pipeline.py: 229] +05/27 08:09:56 INFO: [Worker 0] Worker 0 completed house 4764: 0/1 successful episodes [pipeline.py: 1243] +05/27 08:09:56 INFO: [Worker 0] Worker 0 starting house 4781 (index 51/115) [pipeline.py: 473] +05/27 08:09:56 INFO: [Worker 0] Loaded 2 episodes for house 4781 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 08:09:56 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 08:10:02 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4781_ceiling.xml [task_sampler.py: 797] +05/27 08:10:02 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4781, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 08:10:02 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 08:10:02 INFO: [Worker 0] randomize_scene: Setting poses for 73 objects [json_eval_task_sampler.py: 686] +05/27 08:10:02 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 08:10:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 08:10:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 08:10:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 08:10:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 08:10:02 INFO: [Worker 0] Sampled task 'Pick up the shiny gold candy wrapper with twists and place it next to the spherical puzzle globe map' [task_sampler.py: 1136] +05/27 08:10:02 INFO: [Worker 0] Worker 0 house 4781 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/27 08:10:02 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 08:11:40 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 08:24:24 INFO: [Worker 0] Worker 0 house 4781 episode 0 object objacandywrapper_f63a19caad054232bada31bf9dda010b_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 08:24:28 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 08:24:34 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4781_ceiling.xml [task_sampler.py: 797] +05/27 08:24:34 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4781, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 08:24:34 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 08:24:34 INFO: [Worker 0] randomize_scene: Setting poses for 73 objects [json_eval_task_sampler.py: 686] +05/27 08:24:34 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 08:24:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 08:24:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 08:24:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 08:24:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 08:24:34 INFO: [Worker 0] Sampled task 'Pick up the purple candy wrapper with lighthouse and place it next to the transparent soap bottle with dark pump' [task_sampler.py: 1136] +05/27 08:24:34 INFO: [Worker 0] Worker 0 house 4781 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/27 08:24:34 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 08:26:15 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 08:38:37 INFO: [Worker 0] Worker 0 house 4781 episode 1 object objacandywrapper_4a0fdf73d0474d778fd65ba220f50a71_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 08:38:40 INFO: [Worker 0] Batching and saving trajectory data for house_4781: 2 episodes [pipeline.py: 233] +05/27 08:38:40 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 08:38:42 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 08:38:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 08:38:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 08:38:45 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4781 [save_utils.py: 703] +05/27 08:38:45 INFO: [Worker 0] Successfully saved trajectory data for house_4781 in 4.55s (batch: 4.37s, save: 0.18s) [pipeline.py: 280] +05/27 08:38:45 WARNING: [Worker 0] No trajectory data to save for house_4781 [pipeline.py: 229] +05/27 08:38:45 INFO: [Worker 0] Worker 0 completed house 4781: 0/2 successful episodes [pipeline.py: 1243] +05/27 08:38:45 INFO: [Worker 0] Worker 0 starting house 4858 (index 52/115) [pipeline.py: 473] +05/27 08:38:45 INFO: [Worker 0] Loaded 1 episodes for house 4858 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 08:38:45 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 08:38:51 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4858_ceiling.xml [task_sampler.py: 797] +05/27 08:38:51 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4858, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 08:38:51 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 08:38:51 INFO: [Worker 0] randomize_scene: Setting poses for 22 objects [json_eval_task_sampler.py: 686] +05/27 08:38:51 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 08:38:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 08:38:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 08:38:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 08:38:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 08:38:51 INFO: [Worker 0] Sampled task 'Pick up the sleek black vr headset with star and place it next to the tall cream candle in dark holder' [task_sampler.py: 1136] +05/27 08:38:51 INFO: [Worker 0] Worker 0 house 4858 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 08:38:51 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 08:40:29 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 08:47:47 INFO: [Worker 0] Worker 0 house 4858 episode 0 object objavirtualrealityheadset_deb9d583faf24786b06f2bf3f898abba_1_0_3 completed with success=False [pipeline.py: 1114] +05/27 08:47:51 INFO: [Worker 0] Batching and saving trajectory data for house_4858: 1 episodes [pipeline.py: 233] +05/27 08:47:51 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 08:47:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 08:47:54 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4858 [save_utils.py: 703] +05/27 08:47:54 INFO: [Worker 0] Successfully saved trajectory data for house_4858 in 2.83s (batch: 2.74s, save: 0.09s) [pipeline.py: 280] +05/27 08:47:54 WARNING: [Worker 0] No trajectory data to save for house_4858 [pipeline.py: 229] +05/27 08:47:54 INFO: [Worker 0] Worker 0 completed house 4858: 0/1 successful episodes [pipeline.py: 1243] +05/27 08:47:54 INFO: [Worker 0] Worker 0 starting house 4924 (index 53/115) [pipeline.py: 473] +05/27 08:47:54 INFO: [Worker 0] Loaded 1 episodes for house 4924 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 08:47:54 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 08:48:06 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4924_ceiling.xml [task_sampler.py: 797] +05/27 08:48:06 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4924, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 08:48:06 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 08:48:06 INFO: [Worker 0] randomize_scene: Setting poses for 68 objects [json_eval_task_sampler.py: 686] +05/27 08:48:06 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 08:48:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 08:48:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 08:48:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 08:48:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 08:48:06 INFO: [Worker 0] Sampled task 'Pick up the gold drill bit and place it next to the blue globe with penguin on top' [task_sampler.py: 1136] +05/27 08:48:06 INFO: [Worker 0] Worker 0 house 4924 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 08:48:06 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 08:48:06 WARNING: [Worker 0] Could not find object objawinterhat_a6abcf9811ab4d598fd62ab566683cf2_1_0_4 in scene [object_manager.py: 1238] +05/27 08:48:06 WARNING: [Worker 0] Could not find object objaexternalharddrive_65f3fd1fc6e440459aaade5c28028f53_1_0_5 in scene [object_manager.py: 1238] +05/27 08:48:06 WARNING: [Worker 0] Could not find object objadecorativeband_26be4c662c434a66b9e15d66eb4130d8_2_0_5 in scene [object_manager.py: 1238] +05/27 08:48:06 WARNING: [Worker 0] Could not find object objacapsule_da430c2f63ab44b4ac3248ea83a4277e_1_0_8 in scene [object_manager.py: 1238] +05/27 08:48:06 WARNING: [Worker 0] Could not find object tomato_cf857d03afb41a06e23216bfba1c643e_1_0_8 in scene [object_manager.py: 1238] +05/27 09:03:59 INFO: [Worker 0] Worker 0 house 4924 episode 0 object objadrillbit_558c7a29208b474fb727d7482cc0be39_1_0_9 completed with success=False [pipeline.py: 1114] +05/27 09:04:02 INFO: [Worker 0] Batching and saving trajectory data for house_4924: 1 episodes [pipeline.py: 233] +05/27 09:04:02 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 09:04:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 09:04:05 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4924 [save_utils.py: 703] +05/27 09:04:05 INFO: [Worker 0] Successfully saved trajectory data for house_4924 in 2.25s (batch: 2.16s, save: 0.09s) [pipeline.py: 280] +05/27 09:04:05 WARNING: [Worker 0] No trajectory data to save for house_4924 [pipeline.py: 229] +05/27 09:04:05 INFO: [Worker 0] Worker 0 completed house 4924: 0/1 successful episodes [pipeline.py: 1243] +05/27 09:04:05 INFO: [Worker 0] Worker 0 starting house 5000 (index 54/115) [pipeline.py: 473] +05/27 09:04:05 INFO: [Worker 0] Loaded 1 episodes for house 5000 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 09:04:05 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 09:04:37 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5000_ceiling.xml [task_sampler.py: 797] +05/27 09:04:37 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5000, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 09:04:37 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 09:04:37 INFO: [Worker 0] randomize_scene: Setting poses for 50 objects [json_eval_task_sampler.py: 686] +05/27 09:04:37 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 09:04:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 09:04:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 09:04:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 09:04:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 09:04:37 INFO: [Worker 0] Sampled task 'Pick up the bold yellow text sculpture saying party and place it next to the square olive green ceramic plate' [task_sampler.py: 1136] +05/27 09:04:37 INFO: [Worker 0] Worker 0 house 5000 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 09:04:37 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 09:04:37 WARNING: [Worker 0] Could not find object objabirdskull_e4d9884f3aab481381c7eda752c45e8d_1_0_5 in scene [object_manager.py: 1238] +05/27 09:04:37 WARNING: [Worker 0] Could not find object objaanimalskull_181ba19843ae482bb2d60e23b4db283e_1_0_5 in scene [object_manager.py: 1238] +05/27 09:06:12 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 09:16:58 INFO: [Worker 0] Worker 0 house 5000 episode 0 object objadecorativetext_dea5d073a34b44a5a6824f0f5a127db7_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 09:17:02 INFO: [Worker 0] Batching and saving trajectory data for house_5000: 1 episodes [pipeline.py: 233] +05/27 09:17:02 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 09:17:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 09:17:05 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5000 [save_utils.py: 703] +05/27 09:17:05 INFO: [Worker 0] Successfully saved trajectory data for house_5000 in 2.82s (batch: 2.73s, save: 0.09s) [pipeline.py: 280] +05/27 09:17:05 WARNING: [Worker 0] No trajectory data to save for house_5000 [pipeline.py: 229] +05/27 09:17:05 INFO: [Worker 0] Worker 0 completed house 5000: 0/1 successful episodes [pipeline.py: 1243] +05/27 09:17:05 INFO: [Worker 0] Worker 0 starting house 5108 (index 55/115) [pipeline.py: 473] +05/27 09:17:05 INFO: [Worker 0] Loaded 1 episodes for house 5108 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 09:17:05 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 09:17:16 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5108_ceiling.xml [task_sampler.py: 797] +05/27 09:17:16 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5108, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 09:17:16 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 09:17:16 INFO: [Worker 0] randomize_scene: Setting poses for 40 objects [json_eval_task_sampler.py: 686] +05/27 09:17:16 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 09:17:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 09:17:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 09:17:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 09:17:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 09:17:16 INFO: [Worker 0] Sampled task 'Pick up the vintage portable radio and place it next to the square white ceramic plate with ridges' [task_sampler.py: 1136] +05/27 09:17:16 INFO: [Worker 0] Worker 0 house 5108 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 09:17:16 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 09:17:16 WARNING: [Worker 0] Could not find object objatoycamera_8eff73b71375445a8ba75949d58bd3e0_1_0_7 in scene [object_manager.py: 1238] +05/27 09:18:54 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 09:27:43 INFO: [Worker 0] Worker 0 house 5108 episode 0 object objaportableradio_3c64c2aedd5e4eb589011d146db6a282_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 09:27:46 INFO: [Worker 0] Batching and saving trajectory data for house_5108: 1 episodes [pipeline.py: 233] +05/27 09:27:46 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 09:27:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 09:27:49 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5108 [save_utils.py: 703] +05/27 09:27:49 INFO: [Worker 0] Successfully saved trajectory data for house_5108 in 2.28s (batch: 2.19s, save: 0.09s) [pipeline.py: 280] +05/27 09:27:49 WARNING: [Worker 0] No trajectory data to save for house_5108 [pipeline.py: 229] +05/27 09:27:49 INFO: [Worker 0] Worker 0 completed house 5108: 0/1 successful episodes [pipeline.py: 1243] +05/27 09:27:49 INFO: [Worker 0] Worker 0 starting house 5185 (index 56/115) [pipeline.py: 473] +05/27 09:27:49 INFO: [Worker 0] Loaded 1 episodes for house 5185 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 09:27:49 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 09:27:51 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/27 09:27:55 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5185_ceiling.xml [task_sampler.py: 797] +05/27 09:27:55 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5185, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 09:27:55 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 09:27:55 INFO: [Worker 0] randomize_scene: Setting poses for 79 objects [json_eval_task_sampler.py: 686] +05/27 09:27:55 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 09:27:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 09:27:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 09:27:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 09:27:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 09:27:55 INFO: [Worker 0] Sampled task 'Pick up the camouflage suppressor and place it next to the rectangular yellow plaid pillow' [task_sampler.py: 1136] +05/27 09:27:55 INFO: [Worker 0] Worker 0 house 5185 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 09:27:55 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 09:27:55 WARNING: [Worker 0] Could not find object objaceilingpanel_a3d6f7df9ff94ed59f95d5086d5f3fdd_1_0_4 in scene [object_manager.py: 1238] +05/27 09:44:02 INFO: [Worker 0] Worker 0 house 5185 episode 0 object objasuppressor_6dcc657967014bc7846c58ebc7657f01_1_0_3 completed with success=False [pipeline.py: 1114] +05/27 09:44:06 INFO: [Worker 0] Batching and saving trajectory data for house_5185: 1 episodes [pipeline.py: 233] +05/27 09:44:06 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 09:44:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 09:44:09 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5185 [save_utils.py: 703] +05/27 09:44:09 INFO: [Worker 0] Successfully saved trajectory data for house_5185 in 2.91s (batch: 2.82s, save: 0.09s) [pipeline.py: 280] +05/27 09:44:10 WARNING: [Worker 0] No trajectory data to save for house_5185 [pipeline.py: 229] +05/27 09:44:10 INFO: [Worker 0] Worker 0 completed house 5185: 0/1 successful episodes [pipeline.py: 1243] +05/27 09:44:10 INFO: [Worker 0] Worker 0 starting house 5278 (index 57/115) [pipeline.py: 473] +05/27 09:44:10 INFO: [Worker 0] Loaded 1 episodes for house 5278 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 09:44:10 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 09:44:17 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5278_ceiling.xml [task_sampler.py: 797] +05/27 09:44:17 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5278, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 09:44:17 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 09:44:17 INFO: [Worker 0] randomize_scene: Setting poses for 45 objects [json_eval_task_sampler.py: 686] +05/27 09:44:17 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 09:44:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 09:44:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 09:44:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 09:44:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 09:44:17 INFO: [Worker 0] Sampled task 'Pick up the green pcb with components and place it next to the lightweight brown cardboard box with flaps' [task_sampler.py: 1136] +05/27 09:44:17 INFO: [Worker 0] Worker 0 house 5278 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 09:44:17 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 09:45:54 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 09:55:44 INFO: [Worker 0] Worker 0 house 5278 episode 0 object objaprintedcircuitboard_ce1bbb8d4d4f4be4832b662b27dca3bc_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 09:55:48 INFO: [Worker 0] Batching and saving trajectory data for house_5278: 1 episodes [pipeline.py: 233] +05/27 09:55:48 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 09:55:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 09:55:51 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5278 [save_utils.py: 703] +05/27 09:55:51 INFO: [Worker 0] Successfully saved trajectory data for house_5278 in 2.81s (batch: 2.72s, save: 0.09s) [pipeline.py: 280] +05/27 09:55:51 WARNING: [Worker 0] No trajectory data to save for house_5278 [pipeline.py: 229] +05/27 09:55:51 INFO: [Worker 0] Worker 0 completed house 5278: 0/1 successful episodes [pipeline.py: 1243] +05/27 09:55:51 INFO: [Worker 0] Worker 0 starting house 5437 (index 58/115) [pipeline.py: 473] +05/27 09:55:51 INFO: [Worker 0] Loaded 1 episodes for house 5437 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 09:55:51 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 09:56:29 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5437_ceiling.xml [task_sampler.py: 797] +05/27 09:56:29 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5437, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 09:56:29 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 09:56:29 INFO: [Worker 0] randomize_scene: Setting poses for 76 objects [json_eval_task_sampler.py: 686] +05/27 09:56:29 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 09:56:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 09:56:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 09:56:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 09:56:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 09:56:29 INFO: [Worker 0] Sampled task 'Pick up the fresh pineapple with spiky green leaves and place it next to the bulbous shiny gold vase' [task_sampler.py: 1136] +05/27 09:56:29 INFO: [Worker 0] Worker 0 house 5437 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 09:56:29 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 10:14:15 INFO: [Worker 0] Worker 0 house 5437 episode 0 object objapineapple_3abb3e01b4734f44a312de3f7953bdd6_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 10:14:19 INFO: [Worker 0] Batching and saving trajectory data for house_5437: 1 episodes [pipeline.py: 233] +05/27 10:14:19 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 10:14:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 10:14:22 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5437 [save_utils.py: 703] +05/27 10:14:22 INFO: [Worker 0] Successfully saved trajectory data for house_5437 in 2.83s (batch: 2.74s, save: 0.09s) [pipeline.py: 280] +05/27 10:14:23 WARNING: [Worker 0] No trajectory data to save for house_5437 [pipeline.py: 229] +05/27 10:14:23 INFO: [Worker 0] Worker 0 completed house 5437: 0/1 successful episodes [pipeline.py: 1243] +05/27 10:14:23 INFO: [Worker 0] Worker 0 starting house 5508 (index 59/115) [pipeline.py: 473] +05/27 10:14:23 INFO: [Worker 0] Loaded 1 episodes for house 5508 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 10:14:23 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 10:14:31 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5508_ceiling.xml [task_sampler.py: 797] +05/27 10:14:31 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5508, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 10:14:31 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 10:14:31 INFO: [Worker 0] randomize_scene: Setting poses for 100 objects [json_eval_task_sampler.py: 686] +05/27 10:14:31 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 10:14:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 10:14:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 10:14:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 10:14:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 10:14:31 INFO: [Worker 0] Sampled task 'Pick up the dark metal chisel and place it next to the teal dragon' [task_sampler.py: 1136] +05/27 10:14:31 INFO: [Worker 0] Worker 0 house 5508 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 10:14:31 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 10:14:31 WARNING: [Worker 0] Could not find object objadecorativeband_26be4c662c434a66b9e15d66eb4130d8_1_0_5 in scene [object_manager.py: 1238] +05/27 10:14:31 WARNING: [Worker 0] Could not find object objacleaningsponge_f173c4e92f854efe86fa939466e08e4b_1_0_5 in scene [object_manager.py: 1238] +05/27 10:33:38 INFO: [Worker 0] Worker 0 house 5508 episode 0 object objachisel_d02e673a43fd4d5a8bdf76ff0bd60dbf_2_0_3 completed with success=False [pipeline.py: 1114] +05/27 10:33:42 INFO: [Worker 0] Batching and saving trajectory data for house_5508: 1 episodes [pipeline.py: 233] +05/27 10:33:42 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 10:33:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 10:33:44 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5508 [save_utils.py: 703] +05/27 10:33:44 INFO: [Worker 0] Successfully saved trajectory data for house_5508 in 2.83s (batch: 2.74s, save: 0.09s) [pipeline.py: 280] +05/27 10:33:45 WARNING: [Worker 0] No trajectory data to save for house_5508 [pipeline.py: 229] +05/27 10:33:45 INFO: [Worker 0] Worker 0 completed house 5508: 0/1 successful episodes [pipeline.py: 1243] +05/27 10:33:45 INFO: [Worker 0] Worker 0 starting house 5592 (index 60/115) [pipeline.py: 473] +05/27 10:33:45 INFO: [Worker 0] Loaded 1 episodes for house 5592 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 10:33:45 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 10:33:50 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/27 10:33:52 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5592_ceiling.xml [task_sampler.py: 797] +05/27 10:33:52 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5592, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 10:33:52 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 10:33:52 INFO: [Worker 0] randomize_scene: Setting poses for 39 objects [json_eval_task_sampler.py: 686] +05/27 10:33:52 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 10:33:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 10:33:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 10:33:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 10:33:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 10:33:52 INFO: [Worker 0] Sampled task 'Pick up the white bolt with green threaded shaft and place it next to the bronze female nude statue' [task_sampler.py: 1136] +05/27 10:33:52 INFO: [Worker 0] Worker 0 house 5592 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 10:33:52 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 10:33:52 WARNING: [Worker 0] Could not find object objahandmodel_68256e3205da4eb9a4308b477d0ac5d0_1_0_8 in scene [object_manager.py: 1238] +05/27 10:33:52 WARNING: [Worker 0] Could not find object cellulartelephone_1fa394556eb37156656d60fc604d4668_2_0_8 in scene [object_manager.py: 1238] +05/27 10:33:52 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_9 in scene [object_manager.py: 1238] +05/27 10:35:26 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 10:45:50 INFO: [Worker 0] Worker 0 house 5592 episode 0 object objabolt_2f8c479805f3427d9592185a16de8f9c_1_0_9 completed with success=False [pipeline.py: 1114] +05/27 10:45:53 INFO: [Worker 0] Batching and saving trajectory data for house_5592: 1 episodes [pipeline.py: 233] +05/27 10:45:53 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 10:45:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 10:45:55 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5592 [save_utils.py: 703] +05/27 10:45:55 INFO: [Worker 0] Successfully saved trajectory data for house_5592 in 2.26s (batch: 2.17s, save: 0.09s) [pipeline.py: 280] +05/27 10:45:56 WARNING: [Worker 0] No trajectory data to save for house_5592 [pipeline.py: 229] +05/27 10:45:56 INFO: [Worker 0] Worker 0 completed house 5592: 0/1 successful episodes [pipeline.py: 1243] +05/27 10:45:56 INFO: [Worker 0] Worker 0 starting house 5644 (index 61/115) [pipeline.py: 473] +05/27 10:45:56 INFO: [Worker 0] Loaded 1 episodes for house 5644 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 10:45:56 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 10:46:03 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5644_ceiling.xml [task_sampler.py: 797] +05/27 10:46:03 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5644, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 10:46:03 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 10:46:03 INFO: [Worker 0] randomize_scene: Setting poses for 67 objects [json_eval_task_sampler.py: 686] +05/27 10:46:03 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 10:46:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 10:46:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 10:46:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 10:46:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 10:46:03 INFO: [Worker 0] Sampled task 'Pick up the curved bone and place it next to the cartoon orange moth' [task_sampler.py: 1136] +05/27 10:46:03 INFO: [Worker 0] Worker 0 house 5644 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 10:46:03 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 11:01:17 INFO: [Worker 0] Worker 0 house 5644 episode 0 object objadecorativeitem_270028bfd1404d2d9b97f54057838674_1_0_4 completed with success=False [pipeline.py: 1114] +05/27 11:01:21 INFO: [Worker 0] Batching and saving trajectory data for house_5644: 1 episodes [pipeline.py: 233] +05/27 11:01:21 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 11:01:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 11:01:24 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5644 [save_utils.py: 703] +05/27 11:01:24 INFO: [Worker 0] Successfully saved trajectory data for house_5644 in 2.86s (batch: 2.76s, save: 0.09s) [pipeline.py: 280] +05/27 11:01:24 WARNING: [Worker 0] No trajectory data to save for house_5644 [pipeline.py: 229] +05/27 11:01:24 INFO: [Worker 0] Worker 0 completed house 5644: 0/1 successful episodes [pipeline.py: 1243] +05/27 11:01:24 INFO: [Worker 0] Worker 0 starting house 5718 (index 62/115) [pipeline.py: 473] +05/27 11:01:24 INFO: [Worker 0] Loaded 1 episodes for house 5718 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 11:01:24 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 11:01:31 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5718_ceiling.xml [task_sampler.py: 797] +05/27 11:01:31 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5718, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 11:01:31 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 11:01:32 INFO: [Worker 0] randomize_scene: Setting poses for 27 objects [json_eval_task_sampler.py: 686] +05/27 11:01:32 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 11:01:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 11:01:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 11:01:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 11:01:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 11:01:32 INFO: [Worker 0] Sampled task 'Pick up the wooden paddle with accents and place it next to the ornate purple crown with gold' [task_sampler.py: 1136] +05/27 11:01:32 INFO: [Worker 0] Worker 0 house 5718 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 11:01:32 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 11:03:15 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 11:11:19 INFO: [Worker 0] Worker 0 house 5718 episode 0 object objadecorativepaddle_21ebe537f4004cdeabb83243a1e76d55_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 11:11:23 INFO: [Worker 0] Batching and saving trajectory data for house_5718: 1 episodes [pipeline.py: 233] +05/27 11:11:23 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 11:11:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 11:11:26 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5718 [save_utils.py: 703] +05/27 11:11:26 INFO: [Worker 0] Successfully saved trajectory data for house_5718 in 2.88s (batch: 2.79s, save: 0.09s) [pipeline.py: 280] +05/27 11:11:26 WARNING: [Worker 0] No trajectory data to save for house_5718 [pipeline.py: 229] +05/27 11:11:26 INFO: [Worker 0] Worker 0 completed house 5718: 0/1 successful episodes [pipeline.py: 1243] +05/27 11:11:26 INFO: [Worker 0] Worker 0 starting house 5863 (index 63/115) [pipeline.py: 473] +05/27 11:11:26 INFO: [Worker 0] Loaded 1 episodes for house 5863 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 11:11:26 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 11:11:35 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5863_ceiling.xml [task_sampler.py: 797] +05/27 11:11:35 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5863, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 11:11:35 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 11:11:35 INFO: [Worker 0] randomize_scene: Setting poses for 43 objects [json_eval_task_sampler.py: 686] +05/27 11:11:36 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 11:11:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 11:11:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 11:11:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 11:11:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 11:11:36 INFO: [Worker 0] Sampled task 'Pick up the white paint roller and place it next to the burgundy metallic rectangular toaster' [task_sampler.py: 1136] +05/27 11:11:36 INFO: [Worker 0] Worker 0 house 5863 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 11:11:36 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 11:23:29 INFO: [Worker 0] Worker 0 house 5863 episode 0 object objapaintroller_9a4c9d19a1bc4bb5820e9fb5e98e9b29_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 11:23:33 INFO: [Worker 0] Batching and saving trajectory data for house_5863: 1 episodes [pipeline.py: 233] +05/27 11:23:33 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 11:23:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 11:23:36 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5863 [save_utils.py: 703] +05/27 11:23:36 INFO: [Worker 0] Successfully saved trajectory data for house_5863 in 2.87s (batch: 2.78s, save: 0.10s) [pipeline.py: 280] +05/27 11:23:36 WARNING: [Worker 0] No trajectory data to save for house_5863 [pipeline.py: 229] +05/27 11:23:36 INFO: [Worker 0] Worker 0 completed house 5863: 0/1 successful episodes [pipeline.py: 1243] +05/27 11:23:36 INFO: [Worker 0] Worker 0 starting house 5908 (index 64/115) [pipeline.py: 473] +05/27 11:23:36 INFO: [Worker 0] Loaded 1 episodes for house 5908 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 11:23:36 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 11:23:48 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5908_ceiling.xml [task_sampler.py: 797] +05/27 11:23:48 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5908, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 11:23:48 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 11:23:48 INFO: [Worker 0] randomize_scene: Setting poses for 38 objects [json_eval_task_sampler.py: 686] +05/27 11:23:48 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 11:23:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 11:23:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 11:23:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 11:23:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 11:23:48 INFO: [Worker 0] Sampled task 'Pick up the yellow pen and place it next to the brown bowl' [task_sampler.py: 1136] +05/27 11:23:48 INFO: [Worker 0] Worker 0 house 5908 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 11:23:48 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 11:34:11 INFO: [Worker 0] Worker 0 house 5908 episode 0 object objafountainpen_2877301eda684d2183ca24eaec21cee0_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 11:34:15 INFO: [Worker 0] Batching and saving trajectory data for house_5908: 1 episodes [pipeline.py: 233] +05/27 11:34:15 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 11:34:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 11:34:18 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5908 [save_utils.py: 703] +05/27 11:34:18 INFO: [Worker 0] Successfully saved trajectory data for house_5908 in 2.87s (batch: 2.77s, save: 0.09s) [pipeline.py: 280] +05/27 11:34:19 WARNING: [Worker 0] No trajectory data to save for house_5908 [pipeline.py: 229] +05/27 11:34:19 INFO: [Worker 0] Worker 0 completed house 5908: 0/1 successful episodes [pipeline.py: 1243] +05/27 11:34:19 INFO: [Worker 0] Worker 0 starting house 5985 (index 65/115) [pipeline.py: 473] +05/27 11:34:19 INFO: [Worker 0] Loaded 1 episodes for house 5985 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 11:34:19 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 11:34:20 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5985_ceiling.xml [task_sampler.py: 797] +05/27 11:34:20 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5985, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 11:34:20 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 11:34:20 INFO: [Worker 0] randomize_scene: Setting poses for 13 objects [json_eval_task_sampler.py: 686] +05/27 11:34:20 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 11:34:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 11:34:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 11:34:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 11:34:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 11:34:20 INFO: [Worker 0] Sampled task 'Pick up the wooden hand and place it next to the brown rusty cylindrical vintage oilcan' [task_sampler.py: 1136] +05/27 11:34:20 INFO: [Worker 0] Worker 0 house 5985 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 11:34:21 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 11:41:26 INFO: [Worker 0] Worker 0 house 5985 episode 0 object objaartistmannequinhand_a16d835bd7e44756b621f407ba11b8cc_2_0_2 completed with success=False [pipeline.py: 1114] +05/27 11:41:30 INFO: [Worker 0] Batching and saving trajectory data for house_5985: 1 episodes [pipeline.py: 233] +05/27 11:41:30 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 11:41:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 11:41:33 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5985 [save_utils.py: 703] +05/27 11:41:33 INFO: [Worker 0] Successfully saved trajectory data for house_5985 in 2.82s (batch: 2.73s, save: 0.09s) [pipeline.py: 280] +05/27 11:41:33 WARNING: [Worker 0] No trajectory data to save for house_5985 [pipeline.py: 229] +05/27 11:41:33 INFO: [Worker 0] Worker 0 completed house 5985: 0/1 successful episodes [pipeline.py: 1243] +05/27 11:41:33 INFO: [Worker 0] Worker 0 starting house 6093 (index 66/115) [pipeline.py: 473] +05/27 11:41:33 INFO: [Worker 0] Loaded 1 episodes for house 6093 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 11:41:33 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 11:41:39 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6093_ceiling.xml [task_sampler.py: 797] +05/27 11:41:39 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6093, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 11:41:39 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 11:41:39 INFO: [Worker 0] randomize_scene: Setting poses for 43 objects [json_eval_task_sampler.py: 686] +05/27 11:41:39 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 11:41:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 11:41:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 11:41:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 11:41:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 11:41:39 INFO: [Worker 0] Sampled task 'Pick up the vintage wooden corkscrew with lever and place it next to the sleek turquoise aircraft with engines' [task_sampler.py: 1136] +05/27 11:41:39 INFO: [Worker 0] Worker 0 house 6093 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 11:41:39 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 11:53:57 INFO: [Worker 0] Worker 0 house 6093 episode 0 object objacorkscrew_dd933eddfb3d4750b7e448c06b4f5b9b_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 11:54:01 INFO: [Worker 0] Batching and saving trajectory data for house_6093: 1 episodes [pipeline.py: 233] +05/27 11:54:01 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 11:54:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 11:54:04 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6093 [save_utils.py: 703] +05/27 11:54:04 INFO: [Worker 0] Successfully saved trajectory data for house_6093 in 2.84s (batch: 2.75s, save: 0.09s) [pipeline.py: 280] +05/27 11:54:04 WARNING: [Worker 0] No trajectory data to save for house_6093 [pipeline.py: 229] +05/27 11:54:04 INFO: [Worker 0] Worker 0 completed house 6093: 0/1 successful episodes [pipeline.py: 1243] +05/27 11:54:04 INFO: [Worker 0] Worker 0 starting house 6155 (index 67/115) [pipeline.py: 473] +05/27 11:54:04 INFO: [Worker 0] Loaded 1 episodes for house 6155 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 11:54:04 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 11:54:16 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6155_ceiling.xml [task_sampler.py: 797] +05/27 11:54:16 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6155, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 11:54:16 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 11:54:16 INFO: [Worker 0] randomize_scene: Setting poses for 29 objects [json_eval_task_sampler.py: 686] +05/27 11:54:16 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 11:54:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 11:54:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 11:54:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 11:54:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 11:54:16 INFO: [Worker 0] Sampled task 'Pick up the golden brown chocolate chip muffin and place it next to the cutting implement' [task_sampler.py: 1136] +05/27 11:54:16 INFO: [Worker 0] Worker 0 house 6155 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 11:54:16 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 11:55:52 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 12:04:04 INFO: [Worker 0] Worker 0 house 6155 episode 0 object objamuffin_dc883f9b758347f0a83235c842120f6d_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 12:04:07 INFO: [Worker 0] Batching and saving trajectory data for house_6155: 1 episodes [pipeline.py: 233] +05/27 12:04:07 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 12:04:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 12:04:09 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6155 [save_utils.py: 703] +05/27 12:04:09 INFO: [Worker 0] Successfully saved trajectory data for house_6155 in 2.27s (batch: 2.18s, save: 0.09s) [pipeline.py: 280] +05/27 12:04:10 WARNING: [Worker 0] No trajectory data to save for house_6155 [pipeline.py: 229] +05/27 12:04:10 INFO: [Worker 0] Worker 0 completed house 6155: 0/1 successful episodes [pipeline.py: 1243] +05/27 12:04:10 INFO: [Worker 0] Worker 0 starting house 6241 (index 68/115) [pipeline.py: 473] +05/27 12:04:10 INFO: [Worker 0] Loaded 1 episodes for house 6241 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 12:04:10 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 12:04:26 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6241_ceiling.xml [task_sampler.py: 797] +05/27 12:04:26 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6241, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 12:04:26 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 12:04:26 INFO: [Worker 0] randomize_scene: Setting poses for 101 objects [json_eval_task_sampler.py: 686] +05/27 12:04:26 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 12:04:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 12:04:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 12:04:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 12:04:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 12:04:26 INFO: [Worker 0] Sampled task 'Pick up the old rusted circular metal ring and place it next to the animal tissue' [task_sampler.py: 1136] +05/27 12:04:26 INFO: [Worker 0] Worker 0 house 6241 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 12:04:27 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 12:04:27 WARNING: [Worker 0] Could not find object objabasketballshoe_279cb48afa8a4a91a765b371b2aa9107_1_0_5 in scene [object_manager.py: 1238] +05/27 12:04:27 WARNING: [Worker 0] Could not find object objalighter_a2db21b57424449f9a2d1aa08e5b0c90_1_0_5 in scene [object_manager.py: 1238] +05/27 12:04:27 WARNING: [Worker 0] Could not find object objaneonsign_3468b4f91d5046478a3875a1066e0df6_1_0_6 in scene [object_manager.py: 1238] +05/27 12:06:01 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 12:24:48 INFO: [Worker 0] Worker 0 house 6241 episode 0 object objametalring_f7a6369d6e9b4465a085d8e00690d956_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 12:24:51 INFO: [Worker 0] Batching and saving trajectory data for house_6241: 1 episodes [pipeline.py: 233] +05/27 12:24:51 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 12:24:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 12:24:53 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6241 [save_utils.py: 703] +05/27 12:24:53 INFO: [Worker 0] Successfully saved trajectory data for house_6241 in 2.25s (batch: 2.16s, save: 0.09s) [pipeline.py: 280] +05/27 12:24:54 WARNING: [Worker 0] No trajectory data to save for house_6241 [pipeline.py: 229] +05/27 12:24:54 INFO: [Worker 0] Worker 0 completed house 6241: 0/1 successful episodes [pipeline.py: 1243] +05/27 12:24:54 INFO: [Worker 0] Worker 0 starting house 6289 (index 69/115) [pipeline.py: 473] +05/27 12:24:54 INFO: [Worker 0] Loaded 1 episodes for house 6289 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 12:24:54 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 12:25:11 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6289_ceiling.xml [task_sampler.py: 797] +05/27 12:25:11 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6289, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 12:25:11 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 12:25:11 INFO: [Worker 0] randomize_scene: Setting poses for 60 objects [json_eval_task_sampler.py: 686] +05/27 12:25:11 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 12:25:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 12:25:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 12:25:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 12:25:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 12:25:11 INFO: [Worker 0] Sampled task 'Pick up the metallic tapered cup and place it next to the small oval brown potato with texture' [task_sampler.py: 1136] +05/27 12:25:11 INFO: [Worker 0] Worker 0 house 6289 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 12:25:11 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 12:26:50 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 12:34:28 INFO: [Worker 0] Worker 0 house 6289 episode 0 object cup_c2a1d01cc61341b5eb8c564a7fb9c769_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 12:34:31 INFO: [Worker 0] Batching and saving trajectory data for house_6289: 1 episodes [pipeline.py: 233] +05/27 12:34:31 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 12:34:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 12:34:34 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6289 [save_utils.py: 703] +05/27 12:34:34 INFO: [Worker 0] Successfully saved trajectory data for house_6289 in 2.85s (batch: 2.76s, save: 0.09s) [pipeline.py: 280] +05/27 12:34:35 WARNING: [Worker 0] No trajectory data to save for house_6289 [pipeline.py: 229] +05/27 12:34:35 INFO: [Worker 0] Worker 0 completed house 6289: 0/1 successful episodes [pipeline.py: 1243] +05/27 12:34:35 INFO: [Worker 0] Worker 0 starting house 6350 (index 70/115) [pipeline.py: 473] +05/27 12:34:35 INFO: [Worker 0] Loaded 1 episodes for house 6350 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 12:34:35 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 12:34:44 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6350_ceiling.xml [task_sampler.py: 797] +05/27 12:34:44 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6350, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 12:34:44 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 12:34:44 INFO: [Worker 0] randomize_scene: Setting poses for 47 objects [json_eval_task_sampler.py: 686] +05/27 12:34:44 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 12:34:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 12:34:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 12:34:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 12:34:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 12:34:44 INFO: [Worker 0] Sampled task 'Pick up the metal sharpener and place it next to the shiny gold vase' [task_sampler.py: 1136] +05/27 12:34:44 INFO: [Worker 0] Worker 0 house 6350 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 12:34:44 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 12:49:38 INFO: [Worker 0] Worker 0 house 6350 episode 0 object objapencilsharpener_90238a6e97484f7ca846101ed7f43eac_1_0_4 completed with success=False [pipeline.py: 1114] +05/27 12:49:42 INFO: [Worker 0] Batching and saving trajectory data for house_6350: 1 episodes [pipeline.py: 233] +05/27 12:49:42 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 12:49:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 12:49:45 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6350 [save_utils.py: 703] +05/27 12:49:45 INFO: [Worker 0] Successfully saved trajectory data for house_6350 in 2.93s (batch: 2.83s, save: 0.09s) [pipeline.py: 280] +05/27 12:49:46 WARNING: [Worker 0] No trajectory data to save for house_6350 [pipeline.py: 229] +05/27 12:49:46 INFO: [Worker 0] Worker 0 completed house 6350: 0/1 successful episodes [pipeline.py: 1243] +05/27 12:49:46 INFO: [Worker 0] Worker 0 starting house 6421 (index 71/115) [pipeline.py: 473] +05/27 12:49:46 INFO: [Worker 0] Loaded 1 episodes for house 6421 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 12:49:46 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 12:50:03 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6421_ceiling.xml [task_sampler.py: 797] +05/27 12:50:03 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6421, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 12:50:03 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 12:50:03 INFO: [Worker 0] randomize_scene: Setting poses for 21 objects [json_eval_task_sampler.py: 686] +05/27 12:50:03 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 12:50:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 12:50:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 12:50:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 12:50:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 12:50:03 INFO: [Worker 0] Sampled task 'Pick up the off-white stone carved relief and place it next to the bulbous shiny gold metallic vase' [task_sampler.py: 1136] +05/27 12:50:03 INFO: [Worker 0] Worker 0 house 6421 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 12:50:03 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 12:51:37 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 12:58:49 INFO: [Worker 0] Worker 0 house 6421 episode 0 object objawallrelief_c342f42a8dac41b19cb6d017ab19906b_1_0_3 completed with success=False [pipeline.py: 1114] +05/27 12:58:53 INFO: [Worker 0] Batching and saving trajectory data for house_6421: 1 episodes [pipeline.py: 233] +05/27 12:58:53 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 12:58:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 12:58:56 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6421 [save_utils.py: 703] +05/27 12:58:56 INFO: [Worker 0] Successfully saved trajectory data for house_6421 in 2.81s (batch: 2.72s, save: 0.09s) [pipeline.py: 280] +05/27 12:58:57 WARNING: [Worker 0] No trajectory data to save for house_6421 [pipeline.py: 229] +05/27 12:58:57 INFO: [Worker 0] Worker 0 completed house 6421: 0/1 successful episodes [pipeline.py: 1243] +05/27 12:58:57 INFO: [Worker 0] Worker 0 starting house 6523 (index 72/115) [pipeline.py: 473] +05/27 12:58:57 INFO: [Worker 0] Loaded 1 episodes for house 6523 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 12:58:57 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 12:59:15 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6523_ceiling.xml [task_sampler.py: 797] +05/27 12:59:15 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6523, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 12:59:15 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 12:59:15 INFO: [Worker 0] randomize_scene: Setting poses for 59 objects [json_eval_task_sampler.py: 686] +05/27 12:59:15 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 12:59:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 12:59:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 12:59:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 12:59:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 12:59:15 INFO: [Worker 0] Sampled task 'Pick up the blue dna double helix model and place it next to the blue spray bottle' [task_sampler.py: 1136] +05/27 12:59:15 INFO: [Worker 0] Worker 0 house 6523 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 12:59:15 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 12:59:15 WARNING: [Worker 0] Could not find object objahikingshoe_36cf424a356146249c8043410083858f_1_0_5 in scene [object_manager.py: 1238] +05/27 12:59:15 WARNING: [Worker 0] Could not find object objadecorativeband_26be4c662c434a66b9e15d66eb4130d8_2_0_5 in scene [object_manager.py: 1238] +05/27 13:00:53 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 13:06:33 INFO: [Worker 0] Worker 0 house 6523 episode 0 object objadecorativemodel_2d5d4f4c030240e5b938792d52cffa0e_1_0_8 completed with success=False [pipeline.py: 1114] +05/27 13:06:36 INFO: [Worker 0] Batching and saving trajectory data for house_6523: 1 episodes [pipeline.py: 233] +05/27 13:06:36 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 13:06:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 13:06:39 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6523 [save_utils.py: 703] +05/27 13:06:39 INFO: [Worker 0] Successfully saved trajectory data for house_6523 in 2.30s (batch: 2.21s, save: 0.09s) [pipeline.py: 280] +05/27 13:06:39 WARNING: [Worker 0] No trajectory data to save for house_6523 [pipeline.py: 229] +05/27 13:06:39 INFO: [Worker 0] Worker 0 completed house 6523: 0/1 successful episodes [pipeline.py: 1243] +05/27 13:06:39 INFO: [Worker 0] Worker 0 starting house 6624 (index 73/115) [pipeline.py: 473] +05/27 13:06:39 INFO: [Worker 0] Loaded 1 episodes for house 6624 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 13:06:39 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 13:06:42 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6624_ceiling.xml [task_sampler.py: 797] +05/27 13:06:42 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6624, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 13:06:42 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 13:06:42 INFO: [Worker 0] randomize_scene: Setting poses for 30 objects [json_eval_task_sampler.py: 686] +05/27 13:06:42 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 13:06:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 13:06:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 13:06:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 13:06:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 13:06:42 INFO: [Worker 0] Sampled task 'Pick up the kitchen knife with yellow handle and place it next to the blue toaster appliance' [task_sampler.py: 1136] +05/27 13:06:42 INFO: [Worker 0] Worker 0 house 6624 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 13:06:42 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 13:06:42 WARNING: [Worker 0] Could not find object lettuce_b5d873e9282da3d6480dce5dc1588ed8_1_0_2 in scene [object_manager.py: 1238] +05/27 13:08:18 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 13:17:07 INFO: [Worker 0] Worker 0 house 6624 episode 0 object knife_79fd11da07e86802ec5235db6beee9a8_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 13:17:10 INFO: [Worker 0] Batching and saving trajectory data for house_6624: 1 episodes [pipeline.py: 233] +05/27 13:17:10 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 13:17:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 13:17:12 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6624 [save_utils.py: 703] +05/27 13:17:12 INFO: [Worker 0] Successfully saved trajectory data for house_6624 in 2.25s (batch: 2.16s, save: 0.09s) [pipeline.py: 280] +05/27 13:17:13 WARNING: [Worker 0] No trajectory data to save for house_6624 [pipeline.py: 229] +05/27 13:17:13 INFO: [Worker 0] Worker 0 completed house 6624: 0/1 successful episodes [pipeline.py: 1243] +05/27 13:17:13 INFO: [Worker 0] Worker 0 starting house 6739 (index 74/115) [pipeline.py: 473] +05/27 13:17:13 INFO: [Worker 0] Loaded 1 episodes for house 6739 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 13:17:13 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 13:17:22 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6739_ceiling.xml [task_sampler.py: 797] +05/27 13:17:22 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6739, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 13:17:22 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 13:17:22 INFO: [Worker 0] randomize_scene: Setting poses for 66 objects [json_eval_task_sampler.py: 686] +05/27 13:17:22 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 13:17:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 13:17:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 13:17:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 13:17:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 13:17:22 INFO: [Worker 0] Sampled task 'Pick up the round-bottom flask and place it next to the soapdispenser' [task_sampler.py: 1136] +05/27 13:17:22 INFO: [Worker 0] Worker 0 house 6739 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 13:17:22 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 13:18:57 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 13:32:45 INFO: [Worker 0] Worker 0 house 6739 episode 0 object objaflask_c0b5678842064353972d518a67f1ff13_1_0_8 completed with success=False [pipeline.py: 1114] +05/27 13:32:48 INFO: [Worker 0] Batching and saving trajectory data for house_6739: 1 episodes [pipeline.py: 233] +05/27 13:32:48 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 13:32:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 13:32:51 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6739 [save_utils.py: 703] +05/27 13:32:51 INFO: [Worker 0] Successfully saved trajectory data for house_6739 in 2.79s (batch: 2.70s, save: 0.09s) [pipeline.py: 280] +05/27 13:32:52 WARNING: [Worker 0] No trajectory data to save for house_6739 [pipeline.py: 229] +05/27 13:32:52 INFO: [Worker 0] Worker 0 completed house 6739: 0/1 successful episodes [pipeline.py: 1243] +05/27 13:32:52 INFO: [Worker 0] Worker 0 starting house 6826 (index 75/115) [pipeline.py: 473] +05/27 13:32:52 INFO: [Worker 0] Loaded 1 episodes for house 6826 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 13:32:52 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 13:33:00 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6826_ceiling.xml [task_sampler.py: 797] +05/27 13:33:00 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6826, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 13:33:00 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 13:33:00 INFO: [Worker 0] randomize_scene: Setting poses for 47 objects [json_eval_task_sampler.py: 686] +05/27 13:33:00 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 13:33:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 13:33:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 13:33:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 13:33:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 13:33:00 INFO: [Worker 0] Sampled task 'Pick up the carved wooden king holding orb and place it next to the white quilted pillow' [task_sampler.py: 1136] +05/27 13:33:00 INFO: [Worker 0] Worker 0 house 6826 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 13:33:00 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 13:33:00 WARNING: [Worker 0] Could not find object objarunningshoe_23f04afb5ef44cadb4930ceb2e1a0dcd_1_0_5 in scene [object_manager.py: 1238] +05/27 13:33:00 WARNING: [Worker 0] Could not find object objadentures_46145e0221e94a3185b215c07d0f4340_1_0_5 in scene [object_manager.py: 1238] +05/27 13:34:40 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 13:44:09 INFO: [Worker 0] Worker 0 house 6826 episode 0 object objawoodensculpture_fce3d47b8a6b4f8ea3e727af33f5d3af_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 13:44:12 INFO: [Worker 0] Batching and saving trajectory data for house_6826: 1 episodes [pipeline.py: 233] +05/27 13:44:12 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 13:44:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 13:44:15 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6826 [save_utils.py: 703] +05/27 13:44:15 INFO: [Worker 0] Successfully saved trajectory data for house_6826 in 2.21s (batch: 2.12s, save: 0.09s) [pipeline.py: 280] +05/27 13:44:15 WARNING: [Worker 0] No trajectory data to save for house_6826 [pipeline.py: 229] +05/27 13:44:15 INFO: [Worker 0] Worker 0 completed house 6826: 0/1 successful episodes [pipeline.py: 1243] +05/27 13:44:15 INFO: [Worker 0] Worker 0 starting house 6933 (index 76/115) [pipeline.py: 473] +05/27 13:44:15 INFO: [Worker 0] Loaded 1 episodes for house 6933 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 13:44:15 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 13:44:47 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6933_ceiling.xml [task_sampler.py: 797] +05/27 13:44:47 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6933, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 13:44:47 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 13:44:48 INFO: [Worker 0] randomize_scene: Setting poses for 96 objects [json_eval_task_sampler.py: 686] +05/27 13:44:48 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 13:44:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 13:44:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 13:44:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 13:44:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 13:44:48 INFO: [Worker 0] Sampled task 'Pick up the brown and white chihuahua sculpture and place it next to the blue pixelated police figure smoking' [task_sampler.py: 1136] +05/27 13:44:48 INFO: [Worker 0] Worker 0 house 6933 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 13:44:48 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 14:04:15 INFO: [Worker 0] Worker 0 house 6933 episode 0 object objaceramicsculpture_d7176802cbe74b7eb64043e360766e80_1_0_3 completed with success=False [pipeline.py: 1114] +05/27 14:04:19 INFO: [Worker 0] Batching and saving trajectory data for house_6933: 1 episodes [pipeline.py: 233] +05/27 14:04:19 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 14:04:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 14:04:22 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6933 [save_utils.py: 703] +05/27 14:04:22 INFO: [Worker 0] Successfully saved trajectory data for house_6933 in 2.80s (batch: 2.71s, save: 0.09s) [pipeline.py: 280] +05/27 14:04:22 WARNING: [Worker 0] No trajectory data to save for house_6933 [pipeline.py: 229] +05/27 14:04:22 INFO: [Worker 0] Worker 0 completed house 6933: 0/1 successful episodes [pipeline.py: 1243] +05/27 14:04:22 INFO: [Worker 0] Worker 0 starting house 6994 (index 77/115) [pipeline.py: 473] +05/27 14:04:22 INFO: [Worker 0] Loaded 1 episodes for house 6994 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 14:04:22 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 14:04:32 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6994_ceiling.xml [task_sampler.py: 797] +05/27 14:04:32 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6994, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 14:04:32 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 14:04:32 INFO: [Worker 0] randomize_scene: Setting poses for 39 objects [json_eval_task_sampler.py: 686] +05/27 14:04:32 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 14:04:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 14:04:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 14:04:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 14:04:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 14:04:32 INFO: [Worker 0] Sampled task 'Pick up the walkie-talkie and place it next to the white rectangular electrical component' [task_sampler.py: 1136] +05/27 14:04:32 INFO: [Worker 0] Worker 0 house 6994 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 14:04:32 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 14:06:11 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 14:15:11 INFO: [Worker 0] Worker 0 house 6994 episode 0 object objatwowayradio_ed53cb1466564895b5a0b65067c04aeb_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 14:15:14 INFO: [Worker 0] Batching and saving trajectory data for house_6994: 1 episodes [pipeline.py: 233] +05/27 14:15:14 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 14:15:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 14:15:16 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6994 [save_utils.py: 703] +05/27 14:15:16 INFO: [Worker 0] Successfully saved trajectory data for house_6994 in 2.30s (batch: 2.20s, save: 0.09s) [pipeline.py: 280] +05/27 14:15:17 WARNING: [Worker 0] No trajectory data to save for house_6994 [pipeline.py: 229] +05/27 14:15:17 INFO: [Worker 0] Worker 0 completed house 6994: 0/1 successful episodes [pipeline.py: 1243] +05/27 14:15:17 INFO: [Worker 0] Worker 0 starting house 7057 (index 78/115) [pipeline.py: 473] +05/27 14:15:17 INFO: [Worker 0] Loaded 1 episodes for house 7057 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 14:15:17 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 14:15:20 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7057_ceiling.xml [task_sampler.py: 797] +05/27 14:15:20 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7057, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 14:15:20 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 14:15:20 INFO: [Worker 0] randomize_scene: Setting poses for 44 objects [json_eval_task_sampler.py: 686] +05/27 14:15:20 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 14:15:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 14:15:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 14:15:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 14:15:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 14:15:20 INFO: [Worker 0] Sampled task 'Pick up the dentures and place it next to the orange wavy terracotta tile' [task_sampler.py: 1136] +05/27 14:15:20 INFO: [Worker 0] Worker 0 house 7057 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 14:15:20 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 14:27:13 INFO: [Worker 0] Worker 0 house 7057 episode 0 object objadentures_db38ff23dc534a8c8d27a1107904ef94_1_0_5 completed with success=False [pipeline.py: 1114] +05/27 14:27:16 INFO: [Worker 0] Batching and saving trajectory data for house_7057: 1 episodes [pipeline.py: 233] +05/27 14:27:16 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 14:27:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 14:27:18 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7057 [save_utils.py: 703] +05/27 14:27:18 INFO: [Worker 0] Successfully saved trajectory data for house_7057 in 2.19s (batch: 2.10s, save: 0.09s) [pipeline.py: 280] +05/27 14:27:18 WARNING: [Worker 0] No trajectory data to save for house_7057 [pipeline.py: 229] +05/27 14:27:18 INFO: [Worker 0] Worker 0 completed house 7057: 0/1 successful episodes [pipeline.py: 1243] +05/27 14:27:18 INFO: [Worker 0] Worker 0 starting house 7134 (index 79/115) [pipeline.py: 473] +05/27 14:27:18 INFO: [Worker 0] Loaded 2 episodes for house 7134 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 14:27:18 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 14:27:58 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7134_ceiling.xml [task_sampler.py: 797] +05/27 14:27:58 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7134, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 14:27:58 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 14:27:58 INFO: [Worker 0] randomize_scene: Setting poses for 81 objects [json_eval_task_sampler.py: 686] +05/27 14:27:58 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 14:27:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 14:27:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 14:27:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 14:27:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 14:27:58 INFO: [Worker 0] Sampled task 'Pick up the rectangular clay tablet with inscriptions and place it next to the hikingshoe' [task_sampler.py: 1136] +05/27 14:27:58 INFO: [Worker 0] Worker 0 house 7134 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/27 14:27:59 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 14:27:59 WARNING: [Worker 0] Could not find object objafoil_1c043fb628124513b30a2d7d3ba26bac_1_0_9 in scene [object_manager.py: 1238] +05/27 14:27:59 WARNING: [Worker 0] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_9 in scene [object_manager.py: 1238] +05/27 14:47:52 INFO: [Worker 0] Worker 0 house 7134 episode 0 object objaclaytablet_dc350f51b9754a3088196be223f9c0f4_1_0_5 completed with success=False [pipeline.py: 1114] +05/27 14:47:56 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 14:48:02 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7134_ceiling.xml [task_sampler.py: 797] +05/27 14:48:02 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7134, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 14:48:02 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 14:48:02 INFO: [Worker 0] randomize_scene: Setting poses for 81 objects [json_eval_task_sampler.py: 686] +05/27 14:48:02 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 14:48:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 14:48:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 14:48:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 14:48:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 14:48:02 INFO: [Worker 0] Sampled task 'Pick up the round shallow metal dish with texture and place it next to the glossy red vase with narrow neck' [task_sampler.py: 1136] +05/27 14:48:02 INFO: [Worker 0] Worker 0 house 7134 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/27 14:48:02 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 14:48:02 WARNING: [Worker 0] Could not find object objafoil_1c043fb628124513b30a2d7d3ba26bac_1_0_9 in scene [object_manager.py: 1238] +05/27 14:48:02 WARNING: [Worker 0] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_9 in scene [object_manager.py: 1238] +05/27 14:49:39 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 15:07:30 INFO: [Worker 0] Worker 0 house 7134 episode 1 object objadish_5d72b52d57604e109b4d23173707a186_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 15:07:34 INFO: [Worker 0] Batching and saving trajectory data for house_7134: 2 episodes [pipeline.py: 233] +05/27 15:07:34 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 15:07:37 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 15:07:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 15:07:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 15:07:40 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7134 [save_utils.py: 703] +05/27 15:07:40 INFO: [Worker 0] Successfully saved trajectory data for house_7134 in 5.66s (batch: 5.49s, save: 0.17s) [pipeline.py: 280] +05/27 15:07:40 WARNING: [Worker 0] No trajectory data to save for house_7134 [pipeline.py: 229] +05/27 15:07:40 INFO: [Worker 0] Worker 0 completed house 7134: 0/2 successful episodes [pipeline.py: 1243] +05/27 15:07:40 INFO: [Worker 0] Worker 0 starting house 7140 (index 80/115) [pipeline.py: 473] +05/27 15:07:40 INFO: [Worker 0] Loaded 1 episodes for house 7140 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 15:07:40 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 15:08:09 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7140_ceiling.xml [task_sampler.py: 797] +05/27 15:08:09 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7140, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 15:08:09 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 15:08:09 INFO: [Worker 0] randomize_scene: Setting poses for 70 objects [json_eval_task_sampler.py: 686] +05/27 15:08:09 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 15:08:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 15:08:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 15:08:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 15:08:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 15:08:09 INFO: [Worker 0] Sampled task 'Pick up the red roller with yellow core and place it next to the small beige clay smoking pipe' [task_sampler.py: 1136] +05/27 15:08:09 INFO: [Worker 0] Worker 0 house 7140 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 15:08:09 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 15:09:47 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 15:27:10 INFO: [Worker 0] Worker 0 house 7140 episode 0 object objaroller_bfa3aab6d6704c0c9a48501cb239bb4d_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 15:27:13 INFO: [Worker 0] Batching and saving trajectory data for house_7140: 1 episodes [pipeline.py: 233] +05/27 15:27:13 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 15:27:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 15:27:16 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7140 [save_utils.py: 703] +05/27 15:27:16 INFO: [Worker 0] Successfully saved trajectory data for house_7140 in 2.87s (batch: 2.78s, save: 0.10s) [pipeline.py: 280] +05/27 15:27:17 WARNING: [Worker 0] No trajectory data to save for house_7140 [pipeline.py: 229] +05/27 15:27:17 INFO: [Worker 0] Worker 0 completed house 7140: 0/1 successful episodes [pipeline.py: 1243] +05/27 15:27:17 INFO: [Worker 0] Worker 0 starting house 7220 (index 81/115) [pipeline.py: 473] +05/27 15:27:17 INFO: [Worker 0] Loaded 1 episodes for house 7220 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 15:27:17 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 15:27:42 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7220_ceiling.xml [task_sampler.py: 797] +05/27 15:27:42 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7220, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 15:27:42 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 15:27:42 INFO: [Worker 0] randomize_scene: Setting poses for 92 objects [json_eval_task_sampler.py: 686] +05/27 15:27:42 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 15:27:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 15:27:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 15:27:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 15:27:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 15:27:42 INFO: [Worker 0] Sampled task 'Pick up the turquoise gray handheld garden nozzle and place it next to the smooth translucent white bowl' [task_sampler.py: 1136] +05/27 15:27:42 INFO: [Worker 0] Worker 0 house 7220 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 15:27:42 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 15:27:42 WARNING: [Worker 0] Could not find object objadecorativeitem_cc4bcb149acd44e682eacf1b87f9d7ec_1_0_3 in scene [object_manager.py: 1238] +05/27 15:27:42 WARNING: [Worker 0] Could not find object box_cab37dabf893c5e8d3c18a3ad1a8b8eb_1_0_3 in scene [object_manager.py: 1238] +05/27 15:27:42 WARNING: [Worker 0] Could not find object objafoil_1c043fb628124513b30a2d7d3ba26bac_1_0_9 in scene [object_manager.py: 1238] +05/27 15:27:42 WARNING: [Worker 0] Could not find object atomizer_6f646752c976a94a62a6979581d2556d_1_0_9 in scene [object_manager.py: 1238] +05/27 15:46:28 INFO: [Worker 0] Worker 0 house 7220 episode 0 object objagardenhosenozzle_619500aff9084deda175046b10dea026_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 15:46:32 INFO: [Worker 0] Batching and saving trajectory data for house_7220: 1 episodes [pipeline.py: 233] +05/27 15:46:32 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 15:46:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 15:46:34 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7220 [save_utils.py: 703] +05/27 15:46:34 INFO: [Worker 0] Successfully saved trajectory data for house_7220 in 2.25s (batch: 2.16s, save: 0.09s) [pipeline.py: 280] +05/27 15:46:34 WARNING: [Worker 0] No trajectory data to save for house_7220 [pipeline.py: 229] +05/27 15:46:34 INFO: [Worker 0] Worker 0 completed house 7220: 0/1 successful episodes [pipeline.py: 1243] +05/27 15:46:34 INFO: [Worker 0] Worker 0 starting house 7323 (index 82/115) [pipeline.py: 473] +05/27 15:46:34 INFO: [Worker 0] Loaded 1 episodes for house 7323 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 15:46:34 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 15:46:41 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7323_ceiling.xml [task_sampler.py: 797] +05/27 15:46:41 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7323, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 15:46:41 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 15:46:41 INFO: [Worker 0] randomize_scene: Setting poses for 70 objects [json_eval_task_sampler.py: 686] +05/27 15:46:41 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 15:46:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 15:46:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 15:46:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 15:46:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 15:46:41 INFO: [Worker 0] Sampled task 'Pick up the red onion with stem and roots and place it next to the compact blue toaster' [task_sampler.py: 1136] +05/27 15:46:41 INFO: [Worker 0] Worker 0 house 7323 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 15:46:41 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 15:46:42 WARNING: [Worker 0] Could not find object objaadhesivetube_338fcd5ea9de466ab71641ff9f528724_1_0_5 in scene [object_manager.py: 1238] +05/27 15:46:42 WARNING: [Worker 0] Could not find object objadecorativetile_b385283fec254ff3a812a190fe0d0de5_1_0_5 in scene [object_manager.py: 1238] +05/27 15:46:42 WARNING: [Worker 0] Could not find object objagamingconsole_0b101590f1e34ee39fe7cfeb7264c22d_1_0_5 in scene [object_manager.py: 1238] +05/27 15:48:17 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 16:04:02 INFO: [Worker 0] Worker 0 house 7323 episode 0 object objaonion_3de79af9c89a441881daba64c884bbbf_2_0_2 completed with success=False [pipeline.py: 1114] +05/27 16:04:05 INFO: [Worker 0] Batching and saving trajectory data for house_7323: 1 episodes [pipeline.py: 233] +05/27 16:04:05 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 16:04:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 16:04:07 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7323 [save_utils.py: 703] +05/27 16:04:07 INFO: [Worker 0] Successfully saved trajectory data for house_7323 in 2.26s (batch: 2.17s, save: 0.09s) [pipeline.py: 280] +05/27 16:04:08 WARNING: [Worker 0] No trajectory data to save for house_7323 [pipeline.py: 229] +05/27 16:04:08 INFO: [Worker 0] Worker 0 completed house 7323: 0/1 successful episodes [pipeline.py: 1243] +05/27 16:04:08 INFO: [Worker 0] Worker 0 starting house 7362 (index 83/115) [pipeline.py: 473] +05/27 16:04:08 INFO: [Worker 0] Loaded 1 episodes for house 7362 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 16:04:08 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 16:04:25 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7362_ceiling.xml [task_sampler.py: 797] +05/27 16:04:25 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7362, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 16:04:25 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 16:04:25 INFO: [Worker 0] randomize_scene: Setting poses for 74 objects [json_eval_task_sampler.py: 686] +05/27 16:04:25 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 16:04:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 16:04:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 16:04:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 16:04:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 16:04:26 INFO: [Worker 0] Sampled task 'Pick up the black sleek wall-mounted hook and place it next to the stone slab city map' [task_sampler.py: 1136] +05/27 16:04:26 INFO: [Worker 0] Worker 0 house 7362 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 16:04:26 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 16:21:41 INFO: [Worker 0] Worker 0 house 7362 episode 0 object objacoathook_39c055fa857242fe839af81c1de61997_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 16:21:44 INFO: [Worker 0] Batching and saving trajectory data for house_7362: 1 episodes [pipeline.py: 233] +05/27 16:21:44 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 16:21:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 16:21:46 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7362 [save_utils.py: 703] +05/27 16:21:46 INFO: [Worker 0] Successfully saved trajectory data for house_7362 in 2.35s (batch: 2.27s, save: 0.09s) [pipeline.py: 280] +05/27 16:21:47 WARNING: [Worker 0] No trajectory data to save for house_7362 [pipeline.py: 229] +05/27 16:21:47 INFO: [Worker 0] Worker 0 completed house 7362: 0/1 successful episodes [pipeline.py: 1243] +05/27 16:21:47 INFO: [Worker 0] Worker 0 starting house 7437 (index 84/115) [pipeline.py: 473] +05/27 16:21:47 INFO: [Worker 0] Loaded 1 episodes for house 7437 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 16:21:47 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 16:22:08 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7437_ceiling.xml [task_sampler.py: 797] +05/27 16:22:08 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7437, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 16:22:08 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 16:22:08 INFO: [Worker 0] randomize_scene: Setting poses for 93 objects [json_eval_task_sampler.py: 686] +05/27 16:22:08 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 16:22:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 16:22:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 16:22:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 16:22:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 16:22:08 INFO: [Worker 0] Sampled task 'Pick up the sleek metallic rod with brackets and place it next to the detailed pale animal skull' [task_sampler.py: 1136] +05/27 16:22:08 INFO: [Worker 0] Worker 0 house 7437 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 16:22:08 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 16:22:09 WARNING: [Worker 0] Could not find object objalighter_a2db21b57424449f9a2d1aa08e5b0c90_1_0_9 in scene [object_manager.py: 1238] +05/27 16:22:09 WARNING: [Worker 0] Could not find object objacandle_7884554b6cdc4a399e2f948cf5c0ecae_1_0_9 in scene [object_manager.py: 1238] +05/27 16:23:50 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 16:42:27 INFO: [Worker 0] Worker 0 house 7437 episode 0 object objacurtainrod_39e17d1508e64d57889236ccc409ba33_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 16:42:31 INFO: [Worker 0] Batching and saving trajectory data for house_7437: 1 episodes [pipeline.py: 233] +05/27 16:42:31 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 16:42:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 16:42:34 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7437 [save_utils.py: 703] +05/27 16:42:34 INFO: [Worker 0] Successfully saved trajectory data for house_7437 in 2.84s (batch: 2.74s, save: 0.10s) [pipeline.py: 280] +05/27 16:42:34 WARNING: [Worker 0] No trajectory data to save for house_7437 [pipeline.py: 229] +05/27 16:42:34 INFO: [Worker 0] Worker 0 completed house 7437: 0/1 successful episodes [pipeline.py: 1243] +05/27 16:42:34 INFO: [Worker 0] Worker 0 starting house 7501 (index 85/115) [pipeline.py: 473] +05/27 16:42:34 INFO: [Worker 0] Loaded 1 episodes for house 7501 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 16:42:34 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 16:42:43 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7501_ceiling.xml [task_sampler.py: 797] +05/27 16:42:43 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7501, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 16:42:43 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 16:42:43 INFO: [Worker 0] randomize_scene: Setting poses for 14 objects [json_eval_task_sampler.py: 686] +05/27 16:42:43 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 16:42:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 16:42:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 16:42:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 16:42:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 16:42:43 INFO: [Worker 0] Sampled task 'Pick up the tall worn brown vintage book and place it next to the soap bottle' [task_sampler.py: 1136] +05/27 16:42:43 INFO: [Worker 0] Worker 0 house 7501 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 16:42:43 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 16:44:26 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 16:49:13 INFO: [Worker 0] Worker 0 house 7501 episode 0 object objabook_ff96bdc835d64c179d37fc3f41828dfa_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 16:49:16 INFO: [Worker 0] Batching and saving trajectory data for house_7501: 1 episodes [pipeline.py: 233] +05/27 16:49:16 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 16:49:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 16:49:18 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7501 [save_utils.py: 703] +05/27 16:49:18 INFO: [Worker 0] Successfully saved trajectory data for house_7501 in 2.25s (batch: 2.16s, save: 0.09s) [pipeline.py: 280] +05/27 16:49:19 WARNING: [Worker 0] No trajectory data to save for house_7501 [pipeline.py: 229] +05/27 16:49:19 INFO: [Worker 0] Worker 0 completed house 7501: 0/1 successful episodes [pipeline.py: 1243] +05/27 16:49:19 INFO: [Worker 0] Worker 0 starting house 7619 (index 86/115) [pipeline.py: 473] +05/27 16:49:19 INFO: [Worker 0] Loaded 1 episodes for house 7619 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 16:49:19 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 16:49:24 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/27 16:49:27 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7619_ceiling.xml [task_sampler.py: 797] +05/27 16:49:27 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7619, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 16:49:27 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 16:49:27 INFO: [Worker 0] randomize_scene: Setting poses for 47 objects [json_eval_task_sampler.py: 686] +05/27 16:49:27 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 16:49:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 16:49:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 16:49:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 16:49:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 16:49:27 INFO: [Worker 0] Sampled task 'Pick up the black lightning trophy with silver plaque and place it next to the cratered gray moon' [task_sampler.py: 1136] +05/27 16:49:27 INFO: [Worker 0] Worker 0 house 7619 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 16:49:27 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 16:49:27 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_2 in scene [object_manager.py: 1238] +05/27 16:51:02 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 16:59:45 INFO: [Worker 0] Worker 0 house 7619 episode 0 object objaaward_767baba2ef7145d188ab5437730b76ff_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 16:59:49 INFO: [Worker 0] Batching and saving trajectory data for house_7619: 1 episodes [pipeline.py: 233] +05/27 16:59:49 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 16:59:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 16:59:51 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7619 [save_utils.py: 703] +05/27 16:59:51 INFO: [Worker 0] Successfully saved trajectory data for house_7619 in 2.29s (batch: 2.20s, save: 0.09s) [pipeline.py: 280] +05/27 16:59:51 WARNING: [Worker 0] No trajectory data to save for house_7619 [pipeline.py: 229] +05/27 16:59:51 INFO: [Worker 0] Worker 0 completed house 7619: 0/1 successful episodes [pipeline.py: 1243] +05/27 16:59:51 INFO: [Worker 0] Worker 0 starting house 7730 (index 87/115) [pipeline.py: 473] +05/27 16:59:51 INFO: [Worker 0] Loaded 1 episodes for house 7730 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 16:59:51 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 17:00:13 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7730_ceiling.xml [task_sampler.py: 797] +05/27 17:00:13 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7730, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 17:00:13 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 17:00:13 INFO: [Worker 0] randomize_scene: Setting poses for 33 objects [json_eval_task_sampler.py: 686] +05/27 17:00:13 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 17:00:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 17:00:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 17:00:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 17:00:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 17:00:13 INFO: [Worker 0] Sampled task 'Pick up the gray rod with holes and place it next to the round dark crust bread' [task_sampler.py: 1136] +05/27 17:00:13 INFO: [Worker 0] Worker 0 house 7730 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 17:00:13 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 17:01:49 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 17:10:11 INFO: [Worker 0] Worker 0 house 7730 episode 0 object objamountingfixture_c45afc98ee6c4081a0091f6cb3b0ee66_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 17:10:14 INFO: [Worker 0] Batching and saving trajectory data for house_7730: 1 episodes [pipeline.py: 233] +05/27 17:10:14 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 17:10:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 17:10:16 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7730 [save_utils.py: 703] +05/27 17:10:16 INFO: [Worker 0] Successfully saved trajectory data for house_7730 in 2.21s (batch: 2.12s, save: 0.09s) [pipeline.py: 280] +05/27 17:10:16 WARNING: [Worker 0] No trajectory data to save for house_7730 [pipeline.py: 229] +05/27 17:10:16 INFO: [Worker 0] Worker 0 completed house 7730: 0/1 successful episodes [pipeline.py: 1243] +05/27 17:10:16 INFO: [Worker 0] Worker 0 starting house 7822 (index 88/115) [pipeline.py: 473] +05/27 17:10:16 INFO: [Worker 0] Loaded 1 episodes for house 7822 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 17:10:16 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 17:10:22 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7822_ceiling.xml [task_sampler.py: 797] +05/27 17:10:22 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7822, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 17:10:22 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 17:10:23 INFO: [Worker 0] randomize_scene: Setting poses for 42 objects [json_eval_task_sampler.py: 686] +05/27 17:10:23 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 17:10:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 17:10:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 17:10:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 17:10:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 17:10:23 INFO: [Worker 0] Sampled task 'Pick up the brass candlestick and place it next to the pink rectangular shoe box with logos' [task_sampler.py: 1136] +05/27 17:10:23 INFO: [Worker 0] Worker 0 house 7822 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 17:10:23 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 17:21:09 INFO: [Worker 0] Worker 0 house 7822 episode 0 object objacandlestick_aa9eb2f8e6584858a1299adf6fee38fd_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 17:21:13 INFO: [Worker 0] Batching and saving trajectory data for house_7822: 1 episodes [pipeline.py: 233] +05/27 17:21:13 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 17:21:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 17:21:16 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7822 [save_utils.py: 703] +05/27 17:21:16 INFO: [Worker 0] Successfully saved trajectory data for house_7822 in 2.86s (batch: 2.76s, save: 0.09s) [pipeline.py: 280] +05/27 17:21:17 WARNING: [Worker 0] No trajectory data to save for house_7822 [pipeline.py: 229] +05/27 17:21:17 INFO: [Worker 0] Worker 0 completed house 7822: 0/1 successful episodes [pipeline.py: 1243] +05/27 17:21:17 INFO: [Worker 0] Worker 0 starting house 7874 (index 89/115) [pipeline.py: 473] +05/27 17:21:17 INFO: [Worker 0] Loaded 1 episodes for house 7874 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 17:21:17 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 17:21:33 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7874_ceiling.xml [task_sampler.py: 797] +05/27 17:21:33 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7874, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 17:21:33 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 17:21:33 INFO: [Worker 0] randomize_scene: Setting poses for 52 objects [json_eval_task_sampler.py: 686] +05/27 17:21:33 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 17:21:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 17:21:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 17:21:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 17:21:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 17:21:33 INFO: [Worker 0] Sampled task 'Pick up the woodworking plane and place it next to the baked goods' [task_sampler.py: 1136] +05/27 17:21:33 INFO: [Worker 0] Worker 0 house 7874 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 17:21:33 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 17:23:11 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 17:33:36 INFO: [Worker 0] Worker 0 house 7874 episode 0 object objahandplane_c8e3f42e592c4addad281fed0cca95a9_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 17:33:39 INFO: [Worker 0] Batching and saving trajectory data for house_7874: 1 episodes [pipeline.py: 233] +05/27 17:33:39 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 17:33:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 17:33:42 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7874 [save_utils.py: 703] +05/27 17:33:42 INFO: [Worker 0] Successfully saved trajectory data for house_7874 in 2.19s (batch: 2.10s, save: 0.09s) [pipeline.py: 280] +05/27 17:33:42 WARNING: [Worker 0] No trajectory data to save for house_7874 [pipeline.py: 229] +05/27 17:33:42 INFO: [Worker 0] Worker 0 completed house 7874: 0/1 successful episodes [pipeline.py: 1243] +05/27 17:33:42 INFO: [Worker 0] Worker 0 starting house 7994 (index 90/115) [pipeline.py: 473] +05/27 17:33:42 INFO: [Worker 0] Loaded 1 episodes for house 7994 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 17:33:42 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 17:34:00 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7994_ceiling.xml [task_sampler.py: 797] +05/27 17:34:00 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7994, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 17:34:00 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 17:34:00 INFO: [Worker 0] randomize_scene: Setting poses for 26 objects [json_eval_task_sampler.py: 686] +05/27 17:34:00 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 17:34:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 17:34:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 17:34:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 17:34:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 17:34:00 INFO: [Worker 0] Sampled task 'Pick up the handheld tool with red gear head and place it next to the dark matte cup with tapered base' [task_sampler.py: 1136] +05/27 17:34:00 INFO: [Worker 0] Worker 0 house 7994 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 17:34:00 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 17:35:36 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 17:42:59 INFO: [Worker 0] Worker 0 house 7994 episode 0 object objahandheldtool_0bdb9848a979492ebc8671f1044648cf_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 17:43:03 INFO: [Worker 0] Batching and saving trajectory data for house_7994: 1 episodes [pipeline.py: 233] +05/27 17:43:03 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 17:43:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 17:43:06 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7994 [save_utils.py: 703] +05/27 17:43:06 INFO: [Worker 0] Successfully saved trajectory data for house_7994 in 2.88s (batch: 2.79s, save: 0.09s) [pipeline.py: 280] +05/27 17:43:06 WARNING: [Worker 0] No trajectory data to save for house_7994 [pipeline.py: 229] +05/27 17:43:06 INFO: [Worker 0] Worker 0 completed house 7994: 0/1 successful episodes [pipeline.py: 1243] +05/27 17:43:06 INFO: [Worker 0] Worker 0 starting house 8095 (index 91/115) [pipeline.py: 473] +05/27 17:43:06 INFO: [Worker 0] Loaded 1 episodes for house 8095 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 17:43:06 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 17:43:32 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8095_ceiling.xml [task_sampler.py: 797] +05/27 17:43:32 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8095, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 17:43:32 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 17:43:32 INFO: [Worker 0] randomize_scene: Setting poses for 106 objects [json_eval_task_sampler.py: 686] +05/27 17:43:32 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 17:43:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 17:43:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 17:43:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 17:43:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 17:43:32 INFO: [Worker 0] Sampled task 'Pick up the vintage green stick grenade and place it next to the brown bowl' [task_sampler.py: 1136] +05/27 17:43:32 INFO: [Worker 0] Worker 0 house 8095 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 17:43:32 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 17:43:32 WARNING: [Worker 0] Could not find object pencil_2c624e64d6f8a208a3a089ad77d16aa1_1_0_3 in scene [object_manager.py: 1238] +05/27 17:43:32 WARNING: [Worker 0] Could not find object vase_6cb319ff57e79d3745bd6ac29c8adb3d_2_0_7 in scene [object_manager.py: 1238] +05/27 17:43:32 WARNING: [Worker 0] Could not find object statue_d0357892bc2a737e4da2f5a294c60c5e_1_0_8 in scene [object_manager.py: 1238] +05/27 17:45:08 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 18:03:53 INFO: [Worker 0] Worker 0 house 8095 episode 0 object objareplicagrenade_7edd60c4948642b290d863898cacd3dd_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 18:03:56 INFO: [Worker 0] Batching and saving trajectory data for house_8095: 1 episodes [pipeline.py: 233] +05/27 18:03:56 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 18:03:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 18:03:59 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8095 [save_utils.py: 703] +05/27 18:03:59 INFO: [Worker 0] Successfully saved trajectory data for house_8095 in 2.33s (batch: 2.24s, save: 0.10s) [pipeline.py: 280] +05/27 18:03:59 WARNING: [Worker 0] No trajectory data to save for house_8095 [pipeline.py: 229] +05/27 18:03:59 INFO: [Worker 0] Worker 0 completed house 8095: 0/1 successful episodes [pipeline.py: 1243] +05/27 18:03:59 INFO: [Worker 0] Worker 0 starting house 8178 (index 92/115) [pipeline.py: 473] +05/27 18:03:59 INFO: [Worker 0] Loaded 1 episodes for house 8178 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 18:03:59 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 18:04:15 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8178_ceiling.xml [task_sampler.py: 797] +05/27 18:04:15 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8178, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 18:04:15 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 18:04:15 INFO: [Worker 0] randomize_scene: Setting poses for 41 objects [json_eval_task_sampler.py: 686] +05/27 18:04:15 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 18:04:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 18:04:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 18:04:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 18:04:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 18:04:15 INFO: [Worker 0] Sampled task 'Pick up the vintage metal manual juicer and place it next to the spray' [task_sampler.py: 1136] +05/27 18:04:15 INFO: [Worker 0] Worker 0 house 8178 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 18:04:15 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 18:05:55 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 18:15:30 INFO: [Worker 0] Worker 0 house 8178 episode 0 object objamanualjuicer_f80fbe1482444cc88a218db26b76a74d_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 18:15:34 INFO: [Worker 0] Batching and saving trajectory data for house_8178: 1 episodes [pipeline.py: 233] +05/27 18:15:34 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 18:15:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 18:15:37 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8178 [save_utils.py: 703] +05/27 18:15:37 INFO: [Worker 0] Successfully saved trajectory data for house_8178 in 2.84s (batch: 2.75s, save: 0.09s) [pipeline.py: 280] +05/27 18:15:37 WARNING: [Worker 0] No trajectory data to save for house_8178 [pipeline.py: 229] +05/27 18:15:37 INFO: [Worker 0] Worker 0 completed house 8178: 0/1 successful episodes [pipeline.py: 1243] +05/27 18:15:37 INFO: [Worker 0] Worker 0 starting house 8237 (index 93/115) [pipeline.py: 473] +05/27 18:15:37 INFO: [Worker 0] Loaded 1 episodes for house 8237 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 18:15:37 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 18:15:50 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8237_ceiling.xml [task_sampler.py: 797] +05/27 18:15:50 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8237, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 18:15:50 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 18:15:50 INFO: [Worker 0] randomize_scene: Setting poses for 55 objects [json_eval_task_sampler.py: 686] +05/27 18:15:50 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 18:15:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 18:15:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 18:15:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 18:15:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 18:15:50 INFO: [Worker 0] Sampled task 'Pick up the wrench and place it next to the white disposable paper coffee cup' [task_sampler.py: 1136] +05/27 18:15:50 INFO: [Worker 0] Worker 0 house 8237 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 18:15:50 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 18:17:38 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 18:28:15 INFO: [Worker 0] Worker 0 house 8237 episode 0 object objaadjustablewrench_920576578b384b27b5c3e9bf36220c88_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 18:28:18 INFO: [Worker 0] Batching and saving trajectory data for house_8237: 1 episodes [pipeline.py: 233] +05/27 18:28:18 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 18:28:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 18:28:20 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8237 [save_utils.py: 703] +05/27 18:28:20 INFO: [Worker 0] Successfully saved trajectory data for house_8237 in 2.25s (batch: 2.16s, save: 0.09s) [pipeline.py: 280] +05/27 18:28:21 WARNING: [Worker 0] No trajectory data to save for house_8237 [pipeline.py: 229] +05/27 18:28:21 INFO: [Worker 0] Worker 0 completed house 8237: 0/1 successful episodes [pipeline.py: 1243] +05/27 18:28:21 INFO: [Worker 0] Worker 0 starting house 8321 (index 94/115) [pipeline.py: 473] +05/27 18:28:21 INFO: [Worker 0] Loaded 1 episodes for house 8321 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 18:28:21 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 18:28:37 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8321_ceiling.xml [task_sampler.py: 797] +05/27 18:28:37 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8321, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 18:28:37 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 18:28:37 INFO: [Worker 0] randomize_scene: Setting poses for 41 objects [json_eval_task_sampler.py: 686] +05/27 18:28:37 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 18:28:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 18:28:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 18:28:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 18:28:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 18:28:37 INFO: [Worker 0] Sampled task 'Pick up the curved horn and place it next to the birdskull' [task_sampler.py: 1136] +05/27 18:28:37 INFO: [Worker 0] Worker 0 house 8321 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 18:28:37 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 18:30:15 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 18:41:13 INFO: [Worker 0] Worker 0 house 8321 episode 0 object objadecorativehorn_537d8e1397044be7a2f777c289497445_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 18:41:17 INFO: [Worker 0] Batching and saving trajectory data for house_8321: 1 episodes [pipeline.py: 233] +05/27 18:41:17 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 18:41:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 18:41:20 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8321 [save_utils.py: 703] +05/27 18:41:20 INFO: [Worker 0] Successfully saved trajectory data for house_8321 in 2.86s (batch: 2.77s, save: 0.09s) [pipeline.py: 280] +05/27 18:41:21 WARNING: [Worker 0] No trajectory data to save for house_8321 [pipeline.py: 229] +05/27 18:41:21 INFO: [Worker 0] Worker 0 completed house 8321: 0/1 successful episodes [pipeline.py: 1243] +05/27 18:41:21 INFO: [Worker 0] Worker 0 starting house 8394 (index 95/115) [pipeline.py: 473] +05/27 18:41:21 INFO: [Worker 0] Loaded 1 episodes for house 8394 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 18:41:21 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 18:41:26 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8394_ceiling.xml [task_sampler.py: 797] +05/27 18:41:26 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8394, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 18:41:26 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 18:41:26 INFO: [Worker 0] randomize_scene: Setting poses for 32 objects [json_eval_task_sampler.py: 686] +05/27 18:41:26 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 18:41:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 18:41:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 18:41:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 18:41:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 18:41:26 INFO: [Worker 0] Sampled task 'Pick up the red and white soup can and place it next to the medium round brown bread loaf' [task_sampler.py: 1136] +05/27 18:41:26 INFO: [Worker 0] Worker 0 house 8394 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 18:41:26 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 18:43:09 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 18:51:19 INFO: [Worker 0] Worker 0 house 8394 episode 0 object objacan_e0976ef0e465417a816b142387f41765_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 18:51:23 INFO: [Worker 0] Batching and saving trajectory data for house_8394: 1 episodes [pipeline.py: 233] +05/27 18:51:23 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 18:51:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 18:51:26 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8394 [save_utils.py: 703] +05/27 18:51:26 INFO: [Worker 0] Successfully saved trajectory data for house_8394 in 2.85s (batch: 2.75s, save: 0.09s) [pipeline.py: 280] +05/27 18:51:26 WARNING: [Worker 0] No trajectory data to save for house_8394 [pipeline.py: 229] +05/27 18:51:26 INFO: [Worker 0] Worker 0 completed house 8394: 0/1 successful episodes [pipeline.py: 1243] +05/27 18:51:26 INFO: [Worker 0] Worker 0 starting house 8480 (index 96/115) [pipeline.py: 473] +05/27 18:51:26 INFO: [Worker 0] Loaded 1 episodes for house 8480 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 18:51:26 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 18:51:33 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8480_ceiling.xml [task_sampler.py: 797] +05/27 18:51:33 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8480, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 18:51:33 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 18:51:33 INFO: [Worker 0] randomize_scene: Setting poses for 20 objects [json_eval_task_sampler.py: 686] +05/27 18:51:33 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 18:51:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 18:51:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 18:51:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 18:51:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 18:51:33 INFO: [Worker 0] Sampled task 'Pick up the gavel with brown handle and brass and place it next to the bronze statue of nude female' [task_sampler.py: 1136] +05/27 18:51:33 INFO: [Worker 0] Worker 0 house 8480 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 18:51:33 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 18:59:47 INFO: [Worker 0] Worker 0 house 8480 episode 0 object objagavel_2ae6147628c04ac7a28bfe2b5982b4c3_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 18:59:51 INFO: [Worker 0] Batching and saving trajectory data for house_8480: 1 episodes [pipeline.py: 233] +05/27 18:59:51 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 18:59:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 18:59:54 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8480 [save_utils.py: 703] +05/27 18:59:54 INFO: [Worker 0] Successfully saved trajectory data for house_8480 in 2.86s (batch: 2.77s, save: 0.09s) [pipeline.py: 280] +05/27 18:59:55 WARNING: [Worker 0] No trajectory data to save for house_8480 [pipeline.py: 229] +05/27 18:59:55 INFO: [Worker 0] Worker 0 completed house 8480: 0/1 successful episodes [pipeline.py: 1243] +05/27 18:59:55 INFO: [Worker 0] Worker 0 starting house 8560 (index 97/115) [pipeline.py: 473] +05/27 18:59:55 INFO: [Worker 0] Loaded 1 episodes for house 8560 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 18:59:55 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 19:00:11 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8560_ceiling.xml [task_sampler.py: 797] +05/27 19:00:11 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8560, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 19:00:11 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 19:00:11 INFO: [Worker 0] randomize_scene: Setting poses for 45 objects [json_eval_task_sampler.py: 686] +05/27 19:00:11 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 19:00:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 19:00:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 19:00:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 19:00:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 19:00:11 INFO: [Worker 0] Sampled task 'Pick up the chocolatebunny and place it next to the colorful graffiti grenade with handle' [task_sampler.py: 1136] +05/27 19:00:11 INFO: [Worker 0] Worker 0 house 8560 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 19:00:11 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 19:01:51 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 19:12:55 INFO: [Worker 0] Worker 0 house 8560 episode 0 object objachocolatebunny_e58af28ad5c3463bb40a774052541352_1_0_4 completed with success=False [pipeline.py: 1114] +05/27 19:12:59 INFO: [Worker 0] Batching and saving trajectory data for house_8560: 1 episodes [pipeline.py: 233] +05/27 19:12:59 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 19:13:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 19:13:02 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8560 [save_utils.py: 703] +05/27 19:13:02 INFO: [Worker 0] Successfully saved trajectory data for house_8560 in 2.86s (batch: 2.76s, save: 0.10s) [pipeline.py: 280] +05/27 19:13:02 WARNING: [Worker 0] No trajectory data to save for house_8560 [pipeline.py: 229] +05/27 19:13:02 INFO: [Worker 0] Worker 0 completed house 8560: 0/1 successful episodes [pipeline.py: 1243] +05/27 19:13:02 INFO: [Worker 0] Worker 0 starting house 8678 (index 98/115) [pipeline.py: 473] +05/27 19:13:02 INFO: [Worker 0] Loaded 1 episodes for house 8678 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 19:13:02 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 19:13:20 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8678_ceiling.xml [task_sampler.py: 797] +05/27 19:13:20 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8678, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 19:13:20 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 19:13:20 INFO: [Worker 0] randomize_scene: Setting poses for 76 objects [json_eval_task_sampler.py: 686] +05/27 19:13:20 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 19:13:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 19:13:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 19:13:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 19:13:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 19:13:20 INFO: [Worker 0] Sampled task 'Pick up the white paper cup with starbucks logo and place it next to the yellow apple with stem' [task_sampler.py: 1136] +05/27 19:13:20 INFO: [Worker 0] Worker 0 house 8678 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 19:13:20 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 19:13:20 WARNING: [Worker 0] Could not find object objamarker_c94bb25528ca4d3288cd278be03479ad_1_0_5 in scene [object_manager.py: 1238] +05/27 19:13:20 WARNING: [Worker 0] Could not find object soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_5 in scene [object_manager.py: 1238] +05/27 19:14:59 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 19:30:06 INFO: [Worker 0] Worker 0 house 8678 episode 0 object objapapercup_6b8c2c26639f441cb936801ec6b7490e_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 19:30:10 INFO: [Worker 0] Batching and saving trajectory data for house_8678: 1 episodes [pipeline.py: 233] +05/27 19:30:10 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 19:30:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 19:30:13 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8678 [save_utils.py: 703] +05/27 19:30:13 INFO: [Worker 0] Successfully saved trajectory data for house_8678 in 2.96s (batch: 2.87s, save: 0.09s) [pipeline.py: 280] +05/27 19:30:14 WARNING: [Worker 0] No trajectory data to save for house_8678 [pipeline.py: 229] +05/27 19:30:14 INFO: [Worker 0] Worker 0 completed house 8678: 0/1 successful episodes [pipeline.py: 1243] +05/27 19:30:14 INFO: [Worker 0] Worker 0 starting house 8748 (index 99/115) [pipeline.py: 473] +05/27 19:30:14 INFO: [Worker 0] Loaded 1 episodes for house 8748 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 19:30:14 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 19:30:20 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8748_ceiling.xml [task_sampler.py: 797] +05/27 19:30:20 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8748, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 19:30:20 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 19:30:20 INFO: [Worker 0] randomize_scene: Setting poses for 44 objects [json_eval_task_sampler.py: 686] +05/27 19:30:20 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 19:30:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 19:30:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 19:30:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 19:30:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 19:30:20 INFO: [Worker 0] Sampled task 'Pick up the sharp knife and place it next to the soapdispenser' [task_sampler.py: 1136] +05/27 19:30:20 INFO: [Worker 0] Worker 0 house 8748 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 19:30:20 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 19:31:59 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 19:33:56 INFO: [Worker 0] Worker 0 house 8748 episode 0 object knife_ddd3867ee8b360621e97c1da8ea8906d_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 19:34:00 INFO: [Worker 0] Batching and saving trajectory data for house_8748: 1 episodes [pipeline.py: 233] +05/27 19:34:00 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 19:34:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 19:34:03 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8748 [save_utils.py: 703] +05/27 19:34:03 INFO: [Worker 0] Successfully saved trajectory data for house_8748 in 2.87s (batch: 2.78s, save: 0.10s) [pipeline.py: 280] +05/27 19:34:04 WARNING: [Worker 0] No trajectory data to save for house_8748 [pipeline.py: 229] +05/27 19:34:04 INFO: [Worker 0] Worker 0 completed house 8748: 0/1 successful episodes [pipeline.py: 1243] +05/27 19:34:04 INFO: [Worker 0] Worker 0 starting house 8853 (index 100/115) [pipeline.py: 473] +05/27 19:34:04 INFO: [Worker 0] Loaded 1 episodes for house 8853 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 19:34:04 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 19:34:10 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8853_ceiling.xml [task_sampler.py: 797] +05/27 19:34:10 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8853, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 19:34:10 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 19:34:10 INFO: [Worker 0] randomize_scene: Setting poses for 79 objects [json_eval_task_sampler.py: 686] +05/27 19:34:10 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 19:34:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 19:34:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 19:34:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 19:34:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 19:34:10 INFO: [Worker 0] Sampled task 'Pick up the crockery and place it next to the ceramic bowl' [task_sampler.py: 1136] +05/27 19:34:10 INFO: [Worker 0] Worker 0 house 8853 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 19:34:10 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 19:34:10 WARNING: [Worker 0] Could not find object vase_d568e4c5c2948c69c05d527517276b06_1_0_7 in scene [object_manager.py: 1238] +05/27 19:34:10 WARNING: [Worker 0] Could not find object objadecorativechain_920dd47d98484df4a23b8dee1b378c6a_2_0_8 in scene [object_manager.py: 1238] +05/27 19:34:10 WARNING: [Worker 0] Could not find object pillow_e6c6ee75a221e60aa884f04d694f5c5d_1_0_8 in scene [object_manager.py: 1238] +05/27 19:34:10 WARNING: [Worker 0] Could not find object objadecorativechain_a3ce79a459cc4849868eb2ab508dbd80_1_0_8 in scene [object_manager.py: 1238] +05/27 19:34:10 WARNING: [Worker 0] Could not find object objasportsshoe_6b4506025d2e4c38bf943c377e53a82b_1_0_9 in scene [object_manager.py: 1238] +05/27 19:34:10 WARNING: [Worker 0] Could not find object objaguitareffectspedal_8c6e5265f19b49709119c2628c2bdf3f_1_0_9 in scene [object_manager.py: 1238] +05/27 19:52:49 INFO: [Worker 0] Worker 0 house 8853 episode 0 object objasugarbowl_9b683d621e1b4ca384050d16215b1f5b_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 19:52:53 INFO: [Worker 0] Batching and saving trajectory data for house_8853: 1 episodes [pipeline.py: 233] +05/27 19:52:53 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 19:52:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 19:52:55 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8853 [save_utils.py: 703] +05/27 19:52:55 INFO: [Worker 0] Successfully saved trajectory data for house_8853 in 2.37s (batch: 2.27s, save: 0.10s) [pipeline.py: 280] +05/27 19:52:55 WARNING: [Worker 0] No trajectory data to save for house_8853 [pipeline.py: 229] +05/27 19:52:55 INFO: [Worker 0] Worker 0 completed house 8853: 0/1 successful episodes [pipeline.py: 1243] +05/27 19:52:55 INFO: [Worker 0] Worker 0 starting house 8905 (index 101/115) [pipeline.py: 473] +05/27 19:52:55 INFO: [Worker 0] Loaded 1 episodes for house 8905 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 19:52:55 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 19:53:16 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8905_ceiling.xml [task_sampler.py: 797] +05/27 19:53:16 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8905, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 19:53:16 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 19:53:16 INFO: [Worker 0] randomize_scene: Setting poses for 59 objects [json_eval_task_sampler.py: 686] +05/27 19:53:16 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 19:53:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 19:53:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 19:53:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 19:53:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 19:53:16 INFO: [Worker 0] Sampled task 'Pick up the vintage metal lantern with glass chimney and place it next to the black gaming mouse' [task_sampler.py: 1136] +05/27 19:53:16 INFO: [Worker 0] Worker 0 house 8905 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 19:53:16 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 19:53:16 WARNING: [Worker 0] Could not find object objabottleopener_d39e342e22d84736968af167f3a865c0_1_0_8 in scene [object_manager.py: 1238] +05/27 19:53:16 WARNING: [Worker 0] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_8 in scene [object_manager.py: 1238] +05/27 19:54:52 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 20:08:13 INFO: [Worker 0] Worker 0 house 8905 episode 0 object objalantern_4cdb208ff30a4e5493f73fef6246604d_1_0_9 completed with success=False [pipeline.py: 1114] +05/27 20:08:16 INFO: [Worker 0] Batching and saving trajectory data for house_8905: 1 episodes [pipeline.py: 233] +05/27 20:08:16 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 20:08:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 20:08:18 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8905 [save_utils.py: 703] +05/27 20:08:18 INFO: [Worker 0] Successfully saved trajectory data for house_8905 in 2.26s (batch: 2.17s, save: 0.09s) [pipeline.py: 280] +05/27 20:08:19 WARNING: [Worker 0] No trajectory data to save for house_8905 [pipeline.py: 229] +05/27 20:08:19 INFO: [Worker 0] Worker 0 completed house 8905: 0/1 successful episodes [pipeline.py: 1243] +05/27 20:08:19 INFO: [Worker 0] Worker 0 starting house 8988 (index 102/115) [pipeline.py: 473] +05/27 20:08:19 INFO: [Worker 0] Loaded 1 episodes for house 8988 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 20:08:19 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 20:08:37 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8988_ceiling.xml [task_sampler.py: 797] +05/27 20:08:37 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8988, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 20:08:37 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 20:08:37 INFO: [Worker 0] randomize_scene: Setting poses for 96 objects [json_eval_task_sampler.py: 686] +05/27 20:08:37 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 20:08:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 20:08:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 20:08:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 20:08:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 20:08:37 INFO: [Worker 0] Sampled task 'Pick up the ice-cream cone and place it next to the transparent tapered clear plastic cup' [task_sampler.py: 1136] +05/27 20:08:37 INFO: [Worker 0] Worker 0 house 8988 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 20:08:37 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 20:10:13 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 20:27:03 INFO: [Worker 0] Worker 0 house 8988 episode 0 object objaicecreamcone_86ccdf30b5f649ab877e698ceaeace33_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 20:27:07 INFO: [Worker 0] Batching and saving trajectory data for house_8988: 1 episodes [pipeline.py: 233] +05/27 20:27:07 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 20:27:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 20:27:10 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8988 [save_utils.py: 703] +05/27 20:27:10 INFO: [Worker 0] Successfully saved trajectory data for house_8988 in 2.79s (batch: 2.70s, save: 0.09s) [pipeline.py: 280] +05/27 20:27:11 WARNING: [Worker 0] No trajectory data to save for house_8988 [pipeline.py: 229] +05/27 20:27:11 INFO: [Worker 0] Worker 0 completed house 8988: 0/1 successful episodes [pipeline.py: 1243] +05/27 20:27:11 INFO: [Worker 0] Worker 0 starting house 9044 (index 103/115) [pipeline.py: 473] +05/27 20:27:11 INFO: [Worker 0] Loaded 1 episodes for house 9044 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 20:27:11 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 20:27:32 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9044_ceiling.xml [task_sampler.py: 797] +05/27 20:27:32 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9044, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 20:27:32 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 20:27:32 INFO: [Worker 0] randomize_scene: Setting poses for 63 objects [json_eval_task_sampler.py: 686] +05/27 20:27:32 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 20:27:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 20:27:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 20:27:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 20:27:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 20:27:32 INFO: [Worker 0] Sampled task 'Pick up the medium red apple with smooth surface and place it next to the pink heart' [task_sampler.py: 1136] +05/27 20:27:32 INFO: [Worker 0] Worker 0 house 9044 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 20:27:33 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 20:29:09 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 20:42:26 INFO: [Worker 0] Worker 0 house 9044 episode 0 object apple_1184bcea45a878476443040fbba5b76d_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 20:42:29 INFO: [Worker 0] Batching and saving trajectory data for house_9044: 1 episodes [pipeline.py: 233] +05/27 20:42:29 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 20:42:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 20:42:32 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9044 [save_utils.py: 703] +05/27 20:42:32 INFO: [Worker 0] Successfully saved trajectory data for house_9044 in 2.36s (batch: 2.27s, save: 0.09s) [pipeline.py: 280] +05/27 20:42:32 WARNING: [Worker 0] No trajectory data to save for house_9044 [pipeline.py: 229] +05/27 20:42:32 INFO: [Worker 0] Worker 0 completed house 9044: 0/1 successful episodes [pipeline.py: 1243] +05/27 20:42:32 INFO: [Worker 0] Worker 0 starting house 9102 (index 104/115) [pipeline.py: 473] +05/27 20:42:32 INFO: [Worker 0] Loaded 1 episodes for house 9102 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 20:42:32 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 20:43:40 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9102_ceiling.xml [task_sampler.py: 797] +05/27 20:43:40 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9102, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 20:43:40 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 20:43:40 INFO: [Worker 0] randomize_scene: Setting poses for 62 objects [json_eval_task_sampler.py: 686] +05/27 20:43:40 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 20:43:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 20:43:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 20:43:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 20:43:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 20:43:40 INFO: [Worker 0] Sampled task 'Pick up the purple serum bottle and place it next to the sleek modern juicer metal' [task_sampler.py: 1136] +05/27 20:43:40 INFO: [Worker 0] Worker 0 house 9102 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 20:43:40 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 20:45:18 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 20:58:21 INFO: [Worker 0] Worker 0 house 9102 episode 0 object objabottle_745d282ade2c4b4c8a2b6d8c27cd9112_1_0_8 completed with success=False [pipeline.py: 1114] +05/27 20:58:24 INFO: [Worker 0] Batching and saving trajectory data for house_9102: 1 episodes [pipeline.py: 233] +05/27 20:58:24 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 20:58:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 20:58:27 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9102 [save_utils.py: 703] +05/27 20:58:27 INFO: [Worker 0] Successfully saved trajectory data for house_9102 in 2.34s (batch: 2.25s, save: 0.09s) [pipeline.py: 280] +05/27 20:58:27 WARNING: [Worker 0] No trajectory data to save for house_9102 [pipeline.py: 229] +05/27 20:58:27 INFO: [Worker 0] Worker 0 completed house 9102: 0/1 successful episodes [pipeline.py: 1243] +05/27 20:58:27 INFO: [Worker 0] Worker 0 starting house 9171 (index 105/115) [pipeline.py: 473] +05/27 20:58:27 INFO: [Worker 0] Loaded 1 episodes for house 9171 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 20:58:27 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 20:58:43 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9171_ceiling.xml [task_sampler.py: 797] +05/27 20:58:43 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9171, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 20:58:43 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 20:58:43 INFO: [Worker 0] randomize_scene: Setting poses for 73 objects [json_eval_task_sampler.py: 686] +05/27 20:58:43 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 20:58:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 20:58:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 20:58:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 20:58:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 20:58:43 INFO: [Worker 0] Sampled task 'Pick up the white rectangular light switch plate and place it next to the white rectangular switch plate' [task_sampler.py: 1136] +05/27 20:58:43 INFO: [Worker 0] Worker 0 house 9171 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 20:58:44 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 20:58:44 WARNING: [Worker 0] Could not find object objanarwhalskull_7aca2583e1e44dcfa06fbf2f87ae9a7f_1_0_9 in scene [object_manager.py: 1238] +05/27 20:58:44 WARNING: [Worker 0] Could not find object plate_5eb7564ba51c03b33a20e901d23c4f3b_1_0_9 in scene [object_manager.py: 1238] +05/27 21:00:17 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 21:14:12 INFO: [Worker 0] Worker 0 house 9171 episode 0 object objalightswitchcoverplate_8f601aff31c8480db54a5fe7c85b34c2_2_0_5 completed with success=False [pipeline.py: 1114] +05/27 21:14:16 INFO: [Worker 0] Batching and saving trajectory data for house_9171: 1 episodes [pipeline.py: 233] +05/27 21:14:16 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 21:14:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 21:14:18 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9171 [save_utils.py: 703] +05/27 21:14:18 INFO: [Worker 0] Successfully saved trajectory data for house_9171 in 2.79s (batch: 2.70s, save: 0.09s) [pipeline.py: 280] +05/27 21:14:19 WARNING: [Worker 0] No trajectory data to save for house_9171 [pipeline.py: 229] +05/27 21:14:19 INFO: [Worker 0] Worker 0 completed house 9171: 0/1 successful episodes [pipeline.py: 1243] +05/27 21:14:19 INFO: [Worker 0] Worker 0 starting house 9277 (index 106/115) [pipeline.py: 473] +05/27 21:14:19 INFO: [Worker 0] Loaded 1 episodes for house 9277 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 21:14:19 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 21:14:57 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9277_ceiling.xml [task_sampler.py: 797] +05/27 21:14:57 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9277, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 21:14:57 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 21:14:57 INFO: [Worker 0] randomize_scene: Setting poses for 90 objects [json_eval_task_sampler.py: 686] +05/27 21:14:57 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 21:14:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 21:14:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 21:14:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 21:14:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 21:14:57 INFO: [Worker 0] Sampled task 'Pick up the silver vintage train car model and place it next to the figure' [task_sampler.py: 1136] +05/27 21:14:57 INFO: [Worker 0] Worker 0 house 9277 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 21:14:57 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 21:14:57 WARNING: [Worker 0] Could not find object objacleaningsponge_afd092fac12f4ef8984b80d3d15de232_1_0_5 in scene [object_manager.py: 1238] +05/27 21:14:57 WARNING: [Worker 0] Could not find object objasponge_fc6f343e05344c49baa810fb280e9dcb_1_0_5 in scene [object_manager.py: 1238] +05/27 21:16:34 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 21:31:50 INFO: [Worker 0] Worker 0 house 9277 episode 0 object objatraincarmodel_72eabcdc9e4348a78864d42d439d39b0_1_0_3 completed with success=False [pipeline.py: 1114] +05/27 21:31:53 INFO: [Worker 0] Batching and saving trajectory data for house_9277: 1 episodes [pipeline.py: 233] +05/27 21:31:53 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 21:31:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 21:31:55 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9277 [save_utils.py: 703] +05/27 21:31:55 INFO: [Worker 0] Successfully saved trajectory data for house_9277 in 2.19s (batch: 2.10s, save: 0.09s) [pipeline.py: 280] +05/27 21:31:56 WARNING: [Worker 0] No trajectory data to save for house_9277 [pipeline.py: 229] +05/27 21:31:56 INFO: [Worker 0] Worker 0 completed house 9277: 0/1 successful episodes [pipeline.py: 1243] +05/27 21:31:56 INFO: [Worker 0] Worker 0 starting house 9337 (index 107/115) [pipeline.py: 473] +05/27 21:31:56 INFO: [Worker 0] Loaded 1 episodes for house 9337 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 21:31:56 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 21:32:03 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9337_ceiling.xml [task_sampler.py: 797] +05/27 21:32:03 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9337, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 21:32:03 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 21:32:03 INFO: [Worker 0] randomize_scene: Setting poses for 50 objects [json_eval_task_sampler.py: 686] +05/27 21:32:03 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 21:32:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 21:32:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 21:32:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 21:32:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 21:32:03 INFO: [Worker 0] Sampled task 'Pick up the vintage metal pencil sharpener and place it next to the green hexagonal patterned shell' [task_sampler.py: 1136] +05/27 21:32:03 INFO: [Worker 0] Worker 0 house 9337 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 21:32:03 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 21:32:03 WARNING: [Worker 0] Could not find object objapendantnecklace_11a5d7ca6f1e43a2a8ee668935acfb1e_1_0_5 in scene [object_manager.py: 1238] +05/27 21:32:03 WARNING: [Worker 0] Could not find object objaclaytablet_6f3cd26177eb4f679f06286bb6a2f304_1_0_5 in scene [object_manager.py: 1238] +05/27 21:33:39 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 21:35:42 INFO: [Worker 0] Worker 0 house 9337 episode 0 object objapencilsharpener_9906a13b5a5647dbad3c67a9150721cd_1_0_8 completed with success=True [pipeline.py: 1114] +05/27 21:35:45 INFO: [Worker 0] Batching and saving trajectory data for house_9337: 1 episodes [pipeline.py: 233] +05/27 21:35:45 INFO: [Worker 0] Preparing episode data: 76 timesteps [save_utils.py: 284] +05/27 21:35:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 21:35:47 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9337 [save_utils.py: 703] +05/27 21:35:47 INFO: [Worker 0] Successfully saved trajectory data for house_9337 in 1.97s (batch: 1.93s, save: 0.03s) [pipeline.py: 280] +05/27 21:35:48 WARNING: [Worker 0] No trajectory data to save for house_9337 [pipeline.py: 229] +05/27 21:35:48 INFO: [Worker 0] Worker 0 completed house 9337: 1/1 successful episodes [pipeline.py: 1243] +05/27 21:35:48 INFO: [Worker 0] Worker 0 starting house 9463 (index 108/115) [pipeline.py: 473] +05/27 21:35:48 INFO: [Worker 0] Loaded 1 episodes for house 9463 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 21:35:48 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 21:36:03 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9463_ceiling.xml [task_sampler.py: 797] +05/27 21:36:03 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9463, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 21:36:03 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 21:36:03 INFO: [Worker 0] randomize_scene: Setting poses for 77 objects [json_eval_task_sampler.py: 686] +05/27 21:36:03 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 21:36:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 21:36:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 21:36:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 21:36:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 21:36:03 INFO: [Worker 0] Sampled task 'Pick up the flower topped decorative scepter and place it next to the gold pump bottle' [task_sampler.py: 1136] +05/27 21:36:03 INFO: [Worker 0] Worker 0 house 9463 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 21:36:03 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 21:36:03 WARNING: [Worker 0] Could not find object objaslideprojector_78d0310c779d4354be606bc41b16c8a1_1_0_5 in scene [object_manager.py: 1238] +05/27 21:36:03 WARNING: [Worker 0] Could not find object objatoiletpaperroll_d72efd4c78e146d88aeff93a721c5330_1_0_5 in scene [object_manager.py: 1238] +05/27 21:37:41 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 21:54:08 INFO: [Worker 0] Worker 0 house 9463 episode 0 object objadecorativescepter_1eb62803af504e558ea4c6325413dfe3_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 21:54:11 INFO: [Worker 0] Batching and saving trajectory data for house_9463: 1 episodes [pipeline.py: 233] +05/27 21:54:11 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 21:54:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 21:54:13 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9463 [save_utils.py: 703] +05/27 21:54:13 INFO: [Worker 0] Successfully saved trajectory data for house_9463 in 2.27s (batch: 2.18s, save: 0.09s) [pipeline.py: 280] +05/27 21:54:13 WARNING: [Worker 0] No trajectory data to save for house_9463 [pipeline.py: 229] +05/27 21:54:13 INFO: [Worker 0] Worker 0 completed house 9463: 0/1 successful episodes [pipeline.py: 1243] +05/27 21:54:13 INFO: [Worker 0] Worker 0 starting house 9514 (index 109/115) [pipeline.py: 473] +05/27 21:54:13 INFO: [Worker 0] Loaded 1 episodes for house 9514 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 21:54:13 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 21:54:29 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9514_ceiling.xml [task_sampler.py: 797] +05/27 21:54:29 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9514, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 21:54:29 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 21:54:29 INFO: [Worker 0] randomize_scene: Setting poses for 42 objects [json_eval_task_sampler.py: 686] +05/27 21:54:29 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 21:54:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 21:54:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 21:54:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 21:54:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 21:54:29 INFO: [Worker 0] Sampled task 'Pick up the geometric copper candleholder with candle and place it next to the teal and yellow binoculars with strap' [task_sampler.py: 1136] +05/27 21:54:29 INFO: [Worker 0] Worker 0 house 9514 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 21:54:29 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 22:05:28 INFO: [Worker 0] Worker 0 house 9514 episode 0 object objacandleholder_1bc497c2bcd140de9928b2cc0543d440_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 22:05:31 INFO: [Worker 0] Batching and saving trajectory data for house_9514: 1 episodes [pipeline.py: 233] +05/27 22:05:31 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 22:05:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 22:05:33 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9514 [save_utils.py: 703] +05/27 22:05:33 INFO: [Worker 0] Successfully saved trajectory data for house_9514 in 2.24s (batch: 2.15s, save: 0.09s) [pipeline.py: 280] +05/27 22:05:33 WARNING: [Worker 0] No trajectory data to save for house_9514 [pipeline.py: 229] +05/27 22:05:33 INFO: [Worker 0] Worker 0 completed house 9514: 0/1 successful episodes [pipeline.py: 1243] +05/27 22:05:33 INFO: [Worker 0] Worker 0 starting house 9599 (index 110/115) [pipeline.py: 473] +05/27 22:05:33 INFO: [Worker 0] Loaded 1 episodes for house 9599 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 22:05:33 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 22:05:47 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9599_ceiling.xml [task_sampler.py: 797] +05/27 22:05:47 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9599, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 22:05:47 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 22:05:47 INFO: [Worker 0] randomize_scene: Setting poses for 35 objects [json_eval_task_sampler.py: 686] +05/27 22:05:47 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 22:05:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 22:05:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 22:05:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 22:05:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 22:05:47 INFO: [Worker 0] Sampled task 'Pick up the blue disc and place it next to the round brown dome-shaped loaf bread' [task_sampler.py: 1136] +05/27 22:05:47 INFO: [Worker 0] Worker 0 house 9599 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 22:05:47 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 22:05:47 WARNING: [Worker 0] Could not find object vase_d568e4c5c2948c69c05d527517276b06_1_0_2 in scene [object_manager.py: 1238] +05/27 22:07:27 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 22:14:51 INFO: [Worker 0] Worker 0 house 9599 episode 0 object objafuturisticdisc_78b75c117fd84042947eac33c40f6da8_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 22:14:54 INFO: [Worker 0] Batching and saving trajectory data for house_9599: 1 episodes [pipeline.py: 233] +05/27 22:14:54 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 22:14:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 22:14:56 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9599 [save_utils.py: 703] +05/27 22:14:56 INFO: [Worker 0] Successfully saved trajectory data for house_9599 in 2.21s (batch: 2.12s, save: 0.09s) [pipeline.py: 280] +05/27 22:14:57 WARNING: [Worker 0] No trajectory data to save for house_9599 [pipeline.py: 229] +05/27 22:14:57 INFO: [Worker 0] Worker 0 completed house 9599: 0/1 successful episodes [pipeline.py: 1243] +05/27 22:14:57 INFO: [Worker 0] Worker 0 starting house 9661 (index 111/115) [pipeline.py: 473] +05/27 22:14:57 INFO: [Worker 0] Loaded 1 episodes for house 9661 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 22:14:57 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 22:15:05 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9661_ceiling.xml [task_sampler.py: 797] +05/27 22:15:05 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9661, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 22:15:05 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 22:15:05 INFO: [Worker 0] randomize_scene: Setting poses for 48 objects [json_eval_task_sampler.py: 686] +05/27 22:15:05 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 22:15:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 22:15:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 22:15:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 22:15:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 22:15:05 INFO: [Worker 0] Sampled task 'Pick up the shiny gold script and place it next to the dark curved metal tool with handle' [task_sampler.py: 1136] +05/27 22:15:05 INFO: [Worker 0] Worker 0 house 9661 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 22:15:05 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 22:16:46 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 22:25:31 INFO: [Worker 0] Worker 0 house 9661 episode 0 object objadecorativescript_698f49c7bedb4fc3a5777a9f4edcc5bc_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 22:25:35 INFO: [Worker 0] Batching and saving trajectory data for house_9661: 1 episodes [pipeline.py: 233] +05/27 22:25:35 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 22:25:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 22:25:38 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9661 [save_utils.py: 703] +05/27 22:25:38 INFO: [Worker 0] Successfully saved trajectory data for house_9661 in 2.86s (batch: 2.76s, save: 0.10s) [pipeline.py: 280] +05/27 22:25:39 WARNING: [Worker 0] No trajectory data to save for house_9661 [pipeline.py: 229] +05/27 22:25:39 INFO: [Worker 0] Worker 0 completed house 9661: 0/1 successful episodes [pipeline.py: 1243] +05/27 22:25:39 INFO: [Worker 0] Worker 0 starting house 9759 (index 112/115) [pipeline.py: 473] +05/27 22:25:39 INFO: [Worker 0] Loaded 1 episodes for house 9759 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 22:25:39 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 22:25:41 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9759_ceiling.xml [task_sampler.py: 797] +05/27 22:25:41 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9759, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 22:25:41 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 22:25:41 INFO: [Worker 0] randomize_scene: Setting poses for 26 objects [json_eval_task_sampler.py: 686] +05/27 22:25:41 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 22:25:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 22:25:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 22:25:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 22:25:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 22:25:41 INFO: [Worker 0] Sampled task 'Pick up the sleek dark rectangular phone and place it next to the traffic signal' [task_sampler.py: 1136] +05/27 22:25:41 INFO: [Worker 0] Worker 0 house 9759 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 22:25:41 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 22:27:24 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 22:35:05 INFO: [Worker 0] Worker 0 house 9759 episode 0 object cellulartelephone_43b2396be97b1322a94e498589888114_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 22:35:08 INFO: [Worker 0] Batching and saving trajectory data for house_9759: 1 episodes [pipeline.py: 233] +05/27 22:35:08 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 22:35:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 22:35:11 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9759 [save_utils.py: 703] +05/27 22:35:11 INFO: [Worker 0] Successfully saved trajectory data for house_9759 in 2.81s (batch: 2.72s, save: 0.09s) [pipeline.py: 280] +05/27 22:35:12 WARNING: [Worker 0] No trajectory data to save for house_9759 [pipeline.py: 229] +05/27 22:35:12 INFO: [Worker 0] Worker 0 completed house 9759: 0/1 successful episodes [pipeline.py: 1243] +05/27 22:35:12 INFO: [Worker 0] Worker 0 starting house 9913 (index 113/115) [pipeline.py: 473] +05/27 22:35:12 INFO: [Worker 0] Loaded 1 episodes for house 9913 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 22:35:12 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 22:35:26 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9913_ceiling.xml [task_sampler.py: 797] +05/27 22:35:26 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9913, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 22:35:26 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 22:35:26 INFO: [Worker 0] randomize_scene: Setting poses for 62 objects [json_eval_task_sampler.py: 686] +05/27 22:35:26 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 22:35:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 22:35:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 22:35:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 22:35:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 22:35:26 INFO: [Worker 0] Sampled task 'Pick up the long glossy green cucumber with ridges and place it next to the light ceramic bowl' [task_sampler.py: 1136] +05/27 22:35:26 INFO: [Worker 0] Worker 0 house 9913 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 22:35:26 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 22:37:13 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 22:49:44 INFO: [Worker 0] Worker 0 house 9913 episode 0 object objacucumber_389e61e3fd1e4eacad0000f2e7c31f83_1_0_8 completed with success=False [pipeline.py: 1114] +05/27 22:49:47 INFO: [Worker 0] Batching and saving trajectory data for house_9913: 1 episodes [pipeline.py: 233] +05/27 22:49:47 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 22:49:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 22:49:50 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9913 [save_utils.py: 703] +05/27 22:49:50 INFO: [Worker 0] Successfully saved trajectory data for house_9913 in 2.21s (batch: 2.12s, save: 0.09s) [pipeline.py: 280] +05/27 22:49:50 WARNING: [Worker 0] No trajectory data to save for house_9913 [pipeline.py: 229] +05/27 22:49:50 INFO: [Worker 0] Worker 0 completed house 9913: 0/1 successful episodes [pipeline.py: 1243] +05/27 22:49:50 INFO: [Worker 0] Worker 0 starting house 9955 (index 114/115) [pipeline.py: 473] +05/27 22:49:50 INFO: [Worker 0] Loaded 2 episodes for house 9955 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 [json_eval_runner.py: 278] +05/27 22:49:50 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 22:50:09 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9955_ceiling.xml [task_sampler.py: 797] +05/27 22:50:09 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9955, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 22:50:09 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 22:50:09 INFO: [Worker 0] randomize_scene: Setting poses for 45 objects [json_eval_task_sampler.py: 686] +05/27 22:50:09 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 22:50:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 22:50:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 22:50:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 22:50:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 22:50:09 INFO: [Worker 0] Sampled task 'Pick up the sharp knife and place it next to the blue vintage car' [task_sampler.py: 1136] +05/27 22:50:09 INFO: [Worker 0] Worker 0 house 9955 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/27 22:50:09 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 22:50:10 WARNING: [Worker 0] Could not find object objarooftile_46d3ba45fd8a416a9e594deb63de6455_1_0_3 in scene [object_manager.py: 1238] +05/27 22:50:10 WARNING: [Worker 0] Could not find object objamosaicfragment_780cc0fe43954935b548b72e5c9e129d_1_0_3 in scene [object_manager.py: 1238] +05/27 23:04:38 INFO: [Worker 0] Worker 0 house 9955 episode 0 object objaknife_367ef0c28acf4aaa84fc290f36414797_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 23:04:42 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 23:04:47 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9955_ceiling.xml [task_sampler.py: 797] +05/27 23:04:47 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9955, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 23:04:47 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 23:04:47 INFO: [Worker 0] randomize_scene: Setting poses for 45 objects [json_eval_task_sampler.py: 686] +05/27 23:04:47 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 23:04:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 23:04:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 23:04:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 23:04:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 23:04:47 INFO: [Worker 0] Sampled task 'Pick up the ornate golden tiara with blue gemstones and place it next to the alarmclock' [task_sampler.py: 1136] +05/27 23:04:47 INFO: [Worker 0] Worker 0 house 9955 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/27 23:04:47 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 23:04:47 WARNING: [Worker 0] Could not find object objarooftile_46d3ba45fd8a416a9e594deb63de6455_1_0_3 in scene [object_manager.py: 1238] +05/27 23:04:47 WARNING: [Worker 0] Could not find object objamosaicfragment_780cc0fe43954935b548b72e5c9e129d_1_0_3 in scene [object_manager.py: 1238] +05/27 23:06:36 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 23:17:48 INFO: [Worker 0] Worker 0 house 9955 episode 1 object objatiara_019c5ddf853e4618a686feeb7c70cb3f_1_0_5 completed with success=False [pipeline.py: 1114] +05/27 23:17:52 INFO: [Worker 0] Batching and saving trajectory data for house_9955: 2 episodes [pipeline.py: 233] +05/27 23:17:52 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 23:17:55 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 23:17:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 23:17:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 23:17:58 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9955 [save_utils.py: 703] +05/27 23:17:58 INFO: [Worker 0] Successfully saved trajectory data for house_9955 in 5.60s (batch: 5.43s, save: 0.17s) [pipeline.py: 280] +05/27 23:17:58 WARNING: [Worker 0] No trajectory data to save for house_9955 [pipeline.py: 229] +05/27 23:17:58 INFO: [Worker 0] Worker 0 completed house 9955: 0/2 successful episodes [pipeline.py: 1243] +05/27 23:17:58 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 526] +05/27 23:17:59 INFO: Completed 115 houses, skipped 0 houses [pipeline.py: 1496] +05/27 23:17:59 INFO: Success count: 3, Total count: 119 [pipeline.py: 1499] +05/27 23:17:59 INFO: Success rate: 2.52% [pipeline.py: 1500] diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/episode_results.jsonl b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/episode_results.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7a14f8470c2c6a8f87d4659d791796da7bb8ddd4 --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/episode_results.jsonl @@ -0,0 +1,119 @@ +{"house_id": "house_1097", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the timer and place it next to the white toilet paper roll with embossing", "object_name": "objastopwatch_52be3edac347411e8b4b040ab9c650fc_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1097/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1191", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the brown pixelated torch and place it next to the metallic futuristic device with handle", "object_name": "objatorch_e88c4214d4bc4437ae6d249237591071_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1191/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1276", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the teal shoe last with size markings and place it next to the green piggy bank with clouds", "object_name": "objashoelast_ca1b8c8150074daea810166ec5c86b78_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1276/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1350", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the metallic chopping axe and place it next to the children's purple book with horse puppet", "object_name": "objahandaxe_5b6cd83c95344bcea335fc2452624abe_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1350/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1416", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue rectangular gum package with branding and place it next to the gold vase", "object_name": "objachewinggumpackage_ccce466fa203480c91ffba46d02d6509_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1416/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1555", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black hat plume and place it next to the gray bowl", "object_name": "objamarchingbandhat_04ca4cc9ff7c4546a438d55c727fc557_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1555/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1678", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the medallion with crown and shields and place it next to the dark gray bowl", "object_name": "objamedallion_74573e9beb164375942775cc38047ba7_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1678/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1744", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue patterned bowl and place it next to the metal cup", "object_name": "objapouringbowl_bad55ce1183a4965896446aa526c7ac2_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1744/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1816", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue and white modern electric iron and place it next to the rustic golden brown bread", "object_name": "objasteamiron_7dc6eeb22d424534b45783fbe997b302_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1816/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1928", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the small pale leaf-shaped textured arrowhead and place it next to the blue spaceship", "object_name": "objaarrowhead_adf24b01def54cb2ba548ada8cc8aa8a_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1928/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2030", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue dna helix and place it next to the silver bullet with red band tip", "object_name": "objadecorativemodel_2d5d4f4c030240e5b938792d52cffa0e_1_0_2", "data_file_path": 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"task_description": "Pick up the brown leather wallet with woven edges and place it next to the colorful red parrot with wings", "object_name": "objawallet_45e061790f364b1da9ff876382adca02_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2207/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2338", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green emergency exit sign and place it next to the slim rectangular phone", "object_name": "objaemergencyexitsign_0346252dca2640d799b6d5ba5055851c_1_0_2", "data_file_path": 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"task_description": "Pick up the blue puzzle piece with rainbow and place it next to the transparent tall slender wine glass", "object_name": "objapuzzlepiece_8882000196234ce7aefd64b149f3064e_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2491/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2607", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the colorful garden gnome with beard and place it next to the red faceted gemstone", "object_name": "objagardengnome_51597381f06e4a2ca353b478e5ca9fcb_1_0_2", "data_file_path": 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"Pick up the yellow geiger counter with antennas and place it next to the flat brown h-shaped rectangular piece", "object_name": "objageigercounter_fdbe3ec34d3940989088368c1d29eebb_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2842/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2914", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the bronze statue of nude female and place it next to the bulbous shiny gold metallic vase", "object_name": "statue_cf03a53cab61be46a9663efe8cfd6045_1_0_4", "data_file_path": 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"task_description": "Pick up the orange blowtorch and place it next to the purple crystal formation on base", "object_name": "objablowtorch_0d68b80a863f452190dc2119ec0648a9_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3142/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3233", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red candy cane shaped hook and place it next to the white stone", "object_name": "objadecorativehook_b879e5c52f244d00a29b91837c5f54c5_1_0_6", "data_file_path": 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handle magnifying glass and place it next to the yellow handheld device with antenna", "object_name": "objamagnifyingglass_46e565bd25934ef4a25f98c7b237fcb6_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3364/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3412", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the shiny gold candy wrapper with twists and place it next to the round wooden bowl", "object_name": "objacandywrapper_f63a19caad054232bada31bf9dda010b_1_0_8", "data_file_path": 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the yellow teardrop weight with hanging loop and place it next to the translucent ergonomic spray bottle", "object_name": "objaweight_675cbe00e63b432f8c83c3c5f7e01763_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3585/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3688", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the instrumentation and place it next to the soap dispenser", "object_name": "objadispenser_dae48a392c5a4f3aa00235e664ee7d4d_1_0_2", "data_file_path": 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449, "task_description": "Pick up the small glossy turquoise eye of horus amulet and place it next to the orange fire truck with ladder", "object_name": "objaamulet_7300d219ed944585ace4b2509bef4f6e_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3884/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3925", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage cast iron clothes iron with handle and place it next to the green apple with stem", "object_name": "objaclothesiron_33751730969346df8aa289d31228f3fb_1_0_2", "data_file_path": 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"task_description": "Pick up the long rusty metal rail with notches and place it next to the laptop computer", "object_name": "objametalrail_9643f982b1f84927af2ecd167a1ce232_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4018/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4108", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the tall metal lock and place it next to the simple light brown ceramic bowl", "object_name": "objasecuritydevice_dd640cbe9b2444ecb928d3b5b0e67956_1_0_8", "data_file_path": 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portable radio and place it next to the bust of woman statue", "object_name": "objaportableradio_3c64c2aedd5e4eb589011d146db6a282_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4263/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4303", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green pliers and place it next to the blue vase", "object_name": "objaneedlenosepliers_0079418517784f2bbf0aec6fd8de3cde_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4303/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4348", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the ciabatta olive bread package and place it next to the glossy dark hand", "object_name": "objapackagedfood_d9e056fc90d44ed080ac692526cb39d5_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4348/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4444", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the yellow cup and place it next to the white triangular wedge with texture", "object_name": "objacup_1595f63fbeb3421aa8a261c3815e3512_1_0_2", "data_file_path": 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"task_description": "Pick up the soft taco and place it next to the bulbous shiny gold metallic vase", "object_name": "objataco_5b8095131eca4914b6dce4e96b290a3f_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4649/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4690", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red swiss army knife with tools and place it next to the metal valve", "object_name": "objaswissarmyknife_abf4a9f4cc2040a1a886516c385cf8c3_1_0_6", "data_file_path": 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449, "task_description": "Pick up the shiny gold candy wrapper with twists and place it next to the spherical puzzle globe map", "object_name": "objacandywrapper_f63a19caad054232bada31bf9dda010b_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4781/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4781", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the purple candy wrapper with lighthouse and place it next to the transparent soap bottle with dark pump", "object_name": "objacandywrapper_4a0fdf73d0474d778fd65ba220f50a71_1_0_2", "data_file_path": 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"num_steps": 449, "task_description": "Pick up the gold drill bit and place it next to the blue globe with penguin on top", "object_name": "objadrillbit_558c7a29208b474fb727d7482cc0be39_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4924/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5000", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the bold yellow text sculpture saying party and place it next to the square olive green ceramic plate", "object_name": "objadecorativetext_dea5d073a34b44a5a6824f0f5a127db7_1_0_6", "data_file_path": 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"task_description": "Pick up the camouflage suppressor and place it next to the rectangular yellow plaid pillow", "object_name": "objasuppressor_6dcc657967014bc7846c58ebc7657f01_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5185/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5278", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green pcb with components and place it next to the lightweight brown cardboard box with flaps", "object_name": "objaprintedcircuitboard_ce1bbb8d4d4f4be4832b662b27dca3bc_1_0_7", "data_file_path": 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"task_description": "Pick up the red rectangular box of pasta and place it next to the dark rustic cylindrical loaf with skewer", "object_name": "objafoodpackaging_34ad4ea886e54e139ae7d08fac8467a2_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_547/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5508", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark metal chisel and place it next to the teal dragon", "object_name": "objachisel_d02e673a43fd4d5a8bdf76ff0bd60dbf_2_0_3", "data_file_path": 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"task_description": "Pick up the curved bone and place it next to the cartoon orange moth", "object_name": "objadecorativeitem_270028bfd1404d2d9b97f54057838674_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5644/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5718", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wooden paddle with accents and place it next to the ornate purple crown with gold", "object_name": "objadecorativepaddle_21ebe537f4004cdeabb83243a1e76d55_1_0_2", "data_file_path": 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"task_description": "Pick up the yellow pen and place it next to the brown bowl", "object_name": "objafountainpen_2877301eda684d2183ca24eaec21cee0_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5908/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_595", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the adhesive tape and place it next to the intricately carved stone pyramid", "object_name": "objaadhesivetape_2222dc4b0ded4e008824c347409fd7e1_1_0_8", "data_file_path": 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"task_description": "Pick up the vintage wooden corkscrew with lever and place it next to the sleek turquoise aircraft with engines", "object_name": "objacorkscrew_dd933eddfb3d4750b7e448c06b4f5b9b_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6093/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6155", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the golden brown chocolate chip muffin and place it next to the cutting implement", "object_name": "objamuffin_dc883f9b758347f0a83235c842120f6d_1_0_6", "data_file_path": 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up the metallic tapered cup and place it next to the small oval brown potato with texture", "object_name": "cup_c2a1d01cc61341b5eb8c564a7fb9c769_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6289/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_635", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the cartoonish observatory with satellite dish and place it next to the white candle with flame", "object_name": "objatoybuilding_d82948e1023c4050915ffe4d0bd2b6ce_1_0_5", "data_file_path": 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off-white stone carved relief and place it next to the bulbous shiny gold metallic vase", "object_name": "objawallrelief_c342f42a8dac41b19cb6d017ab19906b_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6421/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6523", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue dna double helix model and place it next to the blue spray bottle", "object_name": "objadecorativemodel_2d5d4f4c030240e5b938792d52cffa0e_1_0_8", "data_file_path": 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"Pick up the round-bottom flask and place it next to the soapdispenser", "object_name": "objaflask_c0b5678842064353972d518a67f1ff13_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6739/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6826", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the carved wooden king holding orb and place it next to the white quilted pillow", "object_name": "objawoodensculpture_fce3d47b8a6b4f8ea3e727af33f5d3af_1_0_7", "data_file_path": 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"num_steps": 449, "task_description": "Pick up the walkie-talkie and place it next to the white rectangular electrical component", "object_name": "objatwowayradio_ed53cb1466564895b5a0b65067c04aeb_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6994/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_7057", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dentures and place it next to the orange wavy terracotta tile", "object_name": "objadentures_db38ff23dc534a8c8d27a1107904ef94_1_0_5", "data_file_path": 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"task_description": "Pick up the round shallow metal dish with texture and place it next to the glossy red vase with narrow neck", "object_name": "objadish_5d72b52d57604e109b4d23173707a186_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7134/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_7140", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red roller with yellow core and place it next to the small beige clay smoking pipe", "object_name": "objaroller_bfa3aab6d6704c0c9a48501cb239bb4d_1_0_6", "data_file_path": 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handheld garden nozzle and place it next to the smooth translucent white bowl", "object_name": "objagardenhosenozzle_619500aff9084deda175046b10dea026_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7220/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_7323", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red onion with stem and roots and place it next to the compact blue toaster", "object_name": "objaonion_3de79af9c89a441881daba64c884bbbf_2_0_2", "data_file_path": 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"Pick up the sleek metallic rod with brackets and place it next to the detailed pale animal skull", "object_name": "objacurtainrod_39e17d1508e64d57889236ccc409ba33_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7437/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_748", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the round terracotta clay serving dish and place it next to the shiny smooth red apple", "object_name": "objaclaydish_976f5b6e9a1344628642051f680b176b_1_0_6", "data_file_path": 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black lightning trophy with silver plaque and place it next to the cratered gray moon", "object_name": "objaaward_767baba2ef7145d188ab5437730b76ff_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7619/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_7730", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray rod with holes and place it next to the round dark crust bread", "object_name": "objamountingfixture_c45afc98ee6c4081a0091f6cb3b0ee66_1_0_6", "data_file_path": 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"task_description": "Pick up the woodworking plane and place it next to the baked goods", "object_name": "objahandplane_c8e3f42e592c4addad281fed0cca95a9_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7874/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_7994", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the handheld tool with red gear head and place it next to the dark matte cup with tapered base", "object_name": "objahandheldtool_0bdb9848a979492ebc8671f1044648cf_1_0_2", "data_file_path": 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up the vintage metal manual juicer and place it next to the spray", "object_name": "objamanualjuicer_f80fbe1482444cc88a218db26b76a74d_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8178/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_818", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the silver scissors and place it next to the slim gold metallic smartphone with buttons", "object_name": "objascissors_48161a88fb9b4982ad2dbefa137e652d_1_0_8", "data_file_path": 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"Pick up the curved horn and place it next to the birdskull", "object_name": "objadecorativehorn_537d8e1397044be7a2f777c289497445_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8321/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8394", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red and white soup can and place it next to the medium round brown bread loaf", "object_name": "objacan_e0976ef0e465417a816b142387f41765_1_0_6", "data_file_path": 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"task_description": "Pick up the chocolatebunny and place it next to the colorful graffiti grenade with handle", "object_name": "objachocolatebunny_e58af28ad5c3463bb40a774052541352_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8560/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8678", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white paper cup with starbucks logo and place it next to the yellow apple with stem", "object_name": "objapapercup_6b8c2c26639f441cb936801ec6b7490e_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8678/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8748", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the sharp knife and place it next to the soapdispenser", "object_name": "knife_ddd3867ee8b360621e97c1da8ea8906d_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8748/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8853", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the crockery and place it next to the ceramic bowl", "object_name": "objasugarbowl_9b683d621e1b4ca384050d16215b1f5b_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8853/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8905", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage metal lantern with glass chimney and place it next to the black gaming mouse", "object_name": "objalantern_4cdb208ff30a4e5493f73fef6246604d_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8905/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_896", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the brown barrel mug and place it next to the white curved wooden molding", "object_name": "objamug_5e639b4c11ce43e0b6124371f88c9b15_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_896/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8988", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the ice-cream cone and place it next to the transparent tapered clear plastic cup", "object_name": "objaicecreamcone_86ccdf30b5f649ab877e698ceaeace33_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8988/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9044", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the medium red apple with smooth surface and place it next to the pink heart", "object_name": "apple_1184bcea45a878476443040fbba5b76d_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9044/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9102", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the purple serum bottle and place it next to the sleek modern juicer metal", "object_name": "objabottle_745d282ade2c4b4c8a2b6d8c27cd9112_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9102/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9171", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white rectangular light switch plate and place it next to the white rectangular switch plate", "object_name": "objalightswitchcoverplate_8f601aff31c8480db54a5fe7c85b34c2_2_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9171/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9277", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the silver vintage train car model and place it next to the figure", "object_name": "objatraincarmodel_72eabcdc9e4348a78864d42d439d39b0_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9277/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9337", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 74, "task_description": "Pick up the vintage metal pencil sharpener and place it next to the green hexagonal patterned shell", "object_name": "objapencilsharpener_9906a13b5a5647dbad3c67a9150721cd_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9337/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9463", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the flower topped decorative scepter and place it next to the gold pump bottle", "object_name": "objadecorativescepter_1eb62803af504e558ea4c6325413dfe3_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9463/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9514", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the geometric copper candleholder with candle and place it next to the teal and yellow binoculars with strap", "object_name": "objacandleholder_1bc497c2bcd140de9928b2cc0543d440_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9514/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9599", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue disc and place it next to the round brown dome-shaped loaf bread", "object_name": "objafuturisticdisc_78b75c117fd84042947eac33c40f6da8_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9599/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9661", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the shiny gold script and place it next to the dark curved metal tool with handle", "object_name": "objadecorativescript_698f49c7bedb4fc3a5777a9f4edcc5bc_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9661/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9759", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the sleek dark rectangular phone and place it next to the traffic signal", "object_name": "cellulartelephone_43b2396be97b1322a94e498589888114_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9759/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9913", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the long glossy green cucumber with ridges and place it next to the light ceramic bowl", "object_name": "objacucumber_389e61e3fd1e4eacad0000f2e7c31f83_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9913/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9955", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the sharp knife and place it next to the blue vintage car", "object_name": "objaknife_367ef0c28acf4aaa84fc290f36414797_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9955/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9955", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the ornate golden tiara with blue gemstones and place it next to the alarmclock", "object_name": "objatiara_019c5ddf853e4618a686feeb7c70cb3f_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9955/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_999", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray remote with colorful buttons and place it next to the purple square pillow", "object_name": "objaremotecontrol_d838fc2535c64927a817da5a84d83a2a_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_999/trajectories_batch_1_of_1.h5", "metadata": {}} diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/eval.log b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/eval.log new file mode 100644 index 0000000000000000000000000000000000000000..32263241abf20ddfa6a2505f574fe1f242728c79 --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/eval.log @@ -0,0 +1,3738 @@ +[2026-05-26 19:43:51,156] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath'] +[2026-05-26 19:43:51,157] INFO Using MuJoCo EGL device id: 2 +[2026-05-26 19:43:51,158] INFO Using pre-set MUJOCO_GL backend: egl +[2026-05-26 19:43:51,188] INFO Using MolmoSpaces benchmark: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 (source=arg) +[2026-05-26 19:43:53,243] INFO No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +[nltk_data] Downloading package wordnet to /home/yuanpei/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /home/yuanpei/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +[2026-05-26 19:44:02,865] INFO ResourceManager (R2RemoteStorage('https://pub-3555e9bb2d304fab9c6c79819e48aa40.r2.dev')) using: + symlink_dir=/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets + cache_dir=/home/yuanpei/.cache/molmo-spaces-resources + force_install=True +/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py:129: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +[2026-05-26 19:48:10,280] INFO Requested MolmoSpaces simulator cameras: ['droid_shoulder_light_randomization', 'wrist_camera_zed_mini'] +[2026-05-26 19:48:10,280] INFO Using save_video_sensors=['__none__'] +[2026-05-26 19:48:15,710] INFO Resolved MolmoSpaces action semantics from checkpoint: source=pnp_next_to_v2 type=molmo_raw arm_action_key=joint_pos_rel gripper_action_key=joint_pos action_type=joint_pos_rel arm_command_mode=joint_rel_position +[2026-05-26 19:48:15,759] INFO Using explicit task_horizon override: 450 steps +[05/26 19:48:16 INFO pipeline.py:677] WandB logging disabled (environment variables not set) +[2026-05-26 19:48:16,189] INFO JsonEvalRunner initialized: 115 houses, 119 episodes from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/26 19:48:16 INFO pipeline.py:1279] Starting house-by-house rollout of 115 houses with 2 episodes each (230 total episodes) using 1 worker processes +[05/26 19:48:16 INFO pipeline.py:1286] Evaluation configuration: +[05/26 19:48:16 INFO pipeline.py:1287] {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['droid_shoulder_light_randomization', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 'wan_molmobot_franka', + 'obs_camera_name': 'droid_shoulder_light_randomization', + 'obs_image_key': 'rgb_head', + 'obs_state_key': 'robot_state', + 'obs_wrist_camera_name': 'wrist_camera_zed_mini', + 'obs_wrist_image_key': 'rgb_wrist', + 'policy_cls': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [547, + 595, + 635, + 717, + 748, + 818, + 896, + 999, + 1097, + 1191, + 1276, + 1350, + 1416, + 1555, + 1678, + 1744, + 1816, + 1928, + 2030, + 2098, + 2207, + 2338, + 2442, + 2491, + 2607, + 2735, + 2842, + 2914, + 3041, + 3142, + 3233, + 3282, + 3364, + 3412, + 3502, + 3585, + 3688, + 3755, + 3884, + 3925, + 4018, + 4108, + 4192, + 4263, + 4303, + 4348, + 4444, + 4541, + 4649, + 4690, + 4764, + 4781, + 4858, + 4924, + 5000, + 5108, + 5185, + 5278, + 5437, + 5508, + 5592, + 5644, + 5718, + 5863, + 5908, + 5985, + 6093, + 6155, + 6241, + 6289, + 6350, + 6421, + 6523, + 6624, + 6739, + 6826, + 6933, + 6994, + 7057, + 7134, + 7140, + 7220, + 7323, + 7362, + 7437, + 7501, + 7619, + 7730, + 7822, + 7874, + 7994, + 8095, + 8178, + 8237, + 8321, + 8394, + 8480, + 8560, + 8678, + 8748, + 8853, + 8905, + 8988, + 9044, + 9102, + 9171, + 9277, + 9337, + 9463, + 9514, + 9599, + 9661, + 9759, + 9913, + 9955], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} +[2026-05-26 19:48:16,194] INFO Saved experiment configuration to /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815 +[05/26 19:48:16 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler +[05/26 19:48:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/26 19:48:16 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler +[05/26 19:48:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 547 (index 0/115) +[05/26 19:48:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 547 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/26 19:48:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +Goal: place red rectangular box of pasta next to dark rustic cylindrical loaf with skewer +2026-05-26 19:48:33.477 | INFO | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0 +[2026-05-26 19:48:34,360] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k) +[2026-05-26 19:48:35,056] INFO [timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k] Safe alternative available for 'pytorch_model.bin' (as 'model.safetensors'). Loading weights using safetensors. +[2026-05-26 19:48:35,550] INFO Number of parameters in DiT: 1.821428e+07 +[2026-05-26 19:48:35,745] INFO Loaded generic psi-policy checkpoint | target=psi_policy.policy.psi_policy.PsiPolicy | obs_keys=['rgb_head', 'rgb_wrist', 'robot_state', 'text_context'] | action_horizon=16 | action_dim=8 +[2026-05-26 19:48:35,748] INFO Loaded MolmoSpaces policy | checkpoint=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt | target=psi_policy.policy.psi_policy.PsiPolicy | device=cuda:0 | action_chunk_size=8 +[05/26 19:56:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 547 episode 0 object objafoodpackaging_34ad4ea886e54e139ae7d08fac8467a2_1_0_6 completed with success=False +[05/26 19:56:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_547: 1 episodes +[05/26 19:56:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 19:56:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 19:56:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_547 +[05/26 19:56:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_547 in 2.24s (batch: 2.15s, save: 0.09s) +[05/26 19:56:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_547 +[05/26 19:56:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 547: 0/1 successful episodes +[05/26 19:56:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 595 (index 1/115) +[05/26 19:56:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 595 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/26 19:56:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[05/26 19:56:38 Worker 0 WARNING object_manager.py:1238] Could not find object objabrush_f8f0d72e40d24bf8afa4b0157cbcb7c7_1_0_5 in scene +Goal: place adhesive tape next to intricately carved stone pyramid +[2026-05-26 19:57:42,592] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/huggingface_hub/file_download.py:945: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`. + warnings.warn( +[05/26 19:58:16 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 20:13:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 595 episode 0 object objaadhesivetape_2222dc4b0ded4e008824c347409fd7e1_1_0_8 completed with success=False +[05/26 20:13:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_595: 1 episodes +[05/26 20:13:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:13:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:13:43 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_595 +[05/26 20:13:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_595 in 2.29s (batch: 2.20s, save: 0.09s) +[05/26 20:13:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_595 +[05/26 20:13:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 595: 0/1 successful episodes +[05/26 20:13:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 635 (index 2/115) +[05/26 20:13:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 635 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/26 20:13:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/26 20:13:55 Worker 0 WARNING object_manager.py:1238] Could not find object tennisracket_8ce350e1a9c0b48dc32aed39a3adf033_1_0_4 in scene +Goal: place cartoonish observatory with satellite dish next to white candle with flame +[2026-05-26 20:14:57,331] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 20:28:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 635 episode 0 object objatoybuilding_d82948e1023c4050915ffe4d0bd2b6ce_1_0_5 completed with success=False +[05/26 20:28:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_635: 1 episodes +[05/26 20:28:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:28:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:28:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_635 +[05/26 20:28:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_635 in 2.23s (batch: 2.15s, save: 0.09s) +[05/26 20:28:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_635 +[05/26 20:28:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 635: 0/1 successful episodes +[05/26 20:28:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 717 (index 3/115) +[05/26 20:28:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 717 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/26 20:28:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/26 20:28:55 Worker 0 WARNING object_manager.py:1238] Could not find object objasurgicalmask_14c823dca9034aa5bcf6628c4995f63a_1_0_5 in scene +Goal: place hexagonal metal bolt next to carafe +[2026-05-26 20:29:55,830] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 20:37:02 Worker 0 INFO pipeline.py:1114] Worker 0 house 717 episode 0 object objabolt_04e3f80a4f1c4c888060fa5c5a53a188_1_0_7 completed with success=True +[05/26 20:37:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_717: 1 episodes +[05/26 20:37:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 191 timesteps +[05/26 20:37:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:37:07 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_717 +[05/26 20:37:07 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_717 in 2.05s (batch: 2.00s, save: 0.05s) +[05/26 20:37:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_717 +[05/26 20:37:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 717: 1/1 successful episodes +[05/26 20:37:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 748 (index 4/115) +[05/26 20:37:07 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 748 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/26 20:37:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +Goal: place round terracotta clay serving dish next to shiny smooth red apple +[2026-05-26 20:38:22,965] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 20:38:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 20:47:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 748 episode 0 object objaclaydish_976f5b6e9a1344628642051f680b176b_1_0_6 completed with success=False +[05/26 20:47:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_748: 1 episodes +[05/26 20:47:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:47:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:47:57 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_748 +[05/26 20:47:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_748 in 2.95s (batch: 2.86s, save: 0.09s) +[05/26 20:47:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_748 +[05/26 20:47:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 748: 0/1 successful episodes +[05/26 20:47:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 818 (index 5/115) +[05/26 20:47:57 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 818 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/26 20:47:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +Goal: place silver scissors next to slim gold metallic smartphone with buttons +[2026-05-26 20:49:16,778] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:01:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 818 episode 0 object objascissors_48161a88fb9b4982ad2dbefa137e652d_1_0_8 completed with success=False +[05/26 21:01:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_818: 1 episodes +[05/26 21:01:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:01:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:01:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_818 +[05/26 21:01:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_818 in 2.15s (batch: 2.07s, save: 0.08s) +[05/26 21:01:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_818 +[05/26 21:01:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 818: 0/1 successful episodes +[05/26 21:01:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 896 (index 6/115) +[05/26 21:01:55 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 896 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/26 21:01:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/25 [00:00 does not support tracking retries. +Goal: place brown barrel mug next to white curved wooden molding +[2026-05-26 21:03:24,008] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:13:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 896 episode 0 object objamug_5e639b4c11ce43e0b6124371f88c9b15_1_0_6 completed with success=False +[05/26 21:13:06 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_896: 1 episodes +[05/26 21:13:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:13:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:13:08 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_896 +[05/26 21:13:08 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_896 in 2.30s (batch: 2.21s, save: 0.09s) +[05/26 21:13:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_896 +[05/26 21:13:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 896: 0/1 successful episodes +[05/26 21:13:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 999 (index 7/115) +[05/26 21:13:09 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 999 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/26 21:13:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +Goal: place gray remote with colorful buttons next to purple square pillow +[2026-05-26 21:14:34,444] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:15:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 21:28:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 999 episode 0 object objaremotecontrol_d838fc2535c64927a817da5a84d83a2a_1_0_6 completed with success=False +[05/26 21:28:58 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_999: 1 episodes +[05/26 21:28:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:29:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:29:01 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_999 +[05/26 21:29:01 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_999 in 2.84s (batch: 2.76s, save: 0.09s) +[05/26 21:29:01 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_999 +[05/26 21:29:01 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 999: 0/1 successful episodes +[05/26 21:29:01 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1097 (index 8/115) +[05/26 21:29:01 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1097 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/26 21:29:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +[05/26 21:29:26 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturelighthouse_bde6dcab0a89413eba4422da59f19cef_1_0_5 in scene +[05/26 21:29:26 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_083eb9b9eb564701820d3a79377c77ce_1_0_5 in scene +Goal: place timer next to white toilet paper roll with embossing +[2026-05-26 21:30:26,119] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:30:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 21:46:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 1097 episode 0 object objastopwatch_52be3edac347411e8b4b040ab9c650fc_1_0_5 completed with success=False +[05/26 21:46:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1097: 1 episodes +[05/26 21:46:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:46:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:46:25 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1097 +[05/26 21:46:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1097 in 2.86s (batch: 2.77s, save: 0.09s) +[05/26 21:46:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1097 +[05/26 21:46:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1097: 0/1 successful episodes +[05/26 21:46:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1191 (index 9/115) +[05/26 21:46:26 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1191 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/26 21:46:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/39 [00:00 does not support tracking retries. +Goal: place brown pixelated torch next to metallic futuristic device with handle +[2026-05-26 21:47:54,057] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:00:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 1191 episode 0 object objatorch_e88c4214d4bc4437ae6d249237591071_1_0_9 completed with success=False +[05/26 22:00:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1191: 1 episodes +[05/26 22:00:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:00:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:00:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1191 +[05/26 22:00:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1191 in 2.25s (batch: 2.17s, save: 0.09s) +[05/26 22:00:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1191 +[05/26 22:00:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1191: 0/1 successful episodes +[05/26 22:00:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1276 (index 10/115) +[05/26 22:00:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1276 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/26 22:00:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +Goal: place teal shoe last with size markings next to green piggy bank with clouds +[2026-05-26 22:01:57,907] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:02:34 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 22:11:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 1276 episode 0 object objashoelast_ca1b8c8150074daea810166ec5c86b78_1_0_7 completed with success=False +[05/26 22:11:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1276: 1 episodes +[05/26 22:11:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:11:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:11:24 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1276 +[05/26 22:11:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1276 in 2.18s (batch: 2.09s, save: 0.09s) +[05/26 22:11:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1276 +[05/26 22:11:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1276: 0/1 successful episodes +[05/26 22:11:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1350 (index 11/115) +[05/26 22:11:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1350 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/26 22:11:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +Goal: place metallic chopping axe next to children's purple book with horse puppet +[2026-05-26 22:12:57,542] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:13:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 22:25:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 1350 episode 0 object objahandaxe_5b6cd83c95344bcea335fc2452624abe_1_0_6 completed with success=False +[05/26 22:25:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1350: 1 episodes +[05/26 22:25:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:25:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:25:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1350 +[05/26 22:25:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1350 in 2.24s (batch: 2.15s, save: 0.09s) +[05/26 22:25:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1350 +[05/26 22:25:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1350: 0/1 successful episodes +[05/26 22:25:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1416 (index 12/115) +[05/26 22:25:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1416 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/26 22:25:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/26 [00:00 does not support tracking retries. +[05/26 22:25:17 Worker 0 WARNING object_manager.py:1238] Could not find object pillow_c223d0fc3107c8eb43a3c5876f16cbfc_1_0_4 in scene +[05/26 22:25:17 Worker 0 WARNING object_manager.py:1238] Could not find object laptop_db169b2db696f5f3309c1b601969bfb0_1_0_4 in scene +Goal: place blue rectangular gum package with branding next to gold vase +[2026-05-26 22:26:20,852] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:38:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 1416 episode 0 object objachewinggumpackage_ccce466fa203480c91ffba46d02d6509_1_0_6 completed with success=False +[05/26 22:38:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1416: 1 episodes +[05/26 22:38:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:38:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:38:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1416 +[05/26 22:38:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1416 in 2.87s (batch: 2.78s, save: 0.09s) +[05/26 22:38:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1416 +[05/26 22:38:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1416: 0/1 successful episodes +[05/26 22:38:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1555 (index 13/115) +[05/26 22:38:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1555 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/26 22:38:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +[05/26 22:39:17 Worker 0 WARNING object_manager.py:1238] Could not find object objadentures_4fc005a4bb9f4ed49ad3b5255e87e720_1_0_5 in scene +[05/26 22:39:17 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene +Goal: place black hat plume next to gray bowl +[2026-05-26 22:40:18,919] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:40:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 22:54:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 1555 episode 0 object objamarchingbandhat_04ca4cc9ff7c4546a438d55c727fc557_1_0_4 completed with success=False +[05/26 22:54:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1555: 1 episodes +[05/26 22:54:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:54:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:54:25 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1555 +[05/26 22:54:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1555 in 2.93s (batch: 2.84s, save: 0.09s) +[05/26 22:54:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1555 +[05/26 22:54:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1555: 0/1 successful episodes +[05/26 22:54:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1678 (index 14/115) +[05/26 22:54:26 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1678 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/26 22:54:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/56 [00:00 does not support tracking retries. +[05/26 22:54:33 Worker 0 WARNING object_manager.py:1238] Could not find object objasurgicalmask_14c823dca9034aa5bcf6628c4995f63a_1_0_5 in scene +[05/26 22:54:33 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_c60254aae031ecd4e316a5add61459a4_1_0_5 in scene +Goal: place medallion with crown and shields next to dark gray bowl +[2026-05-26 22:55:36,580] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:14:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 1678 episode 0 object objamedallion_74573e9beb164375942775cc38047ba7_1_0_4 completed with success=False +[05/26 23:14:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1678: 1 episodes +[05/26 23:14:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:14:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:14:29 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1678 +[05/26 23:14:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1678 in 3.02s (batch: 2.93s, save: 0.09s) +[05/26 23:14:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1678 +[05/26 23:14:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1678: 0/1 successful episodes +[05/26 23:14:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1744 (index 15/115) +[05/26 23:14:29 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1744 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/26 23:14:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +Goal: place blue patterned bowl next to metal cup +[2026-05-26 23:16:01,827] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:16:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 23:28:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 1744 episode 0 object objapouringbowl_bad55ce1183a4965896446aa526c7ac2_1_0_2 completed with success=False +[05/26 23:29:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1744: 1 episodes +[05/26 23:29:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:29:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:29:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1744 +[05/26 23:29:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1744 in 2.90s (batch: 2.81s, save: 0.09s) +[05/26 23:29:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1744 +[05/26 23:29:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1744: 0/1 successful episodes +[05/26 23:29:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1816 (index 16/115) +[05/26 23:29:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1816 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/26 23:29:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/53 [00:00 does not support tracking retries. +[05/26 23:30:22 Worker 0 WARNING object_manager.py:1238] Could not find object objadigitalitem_c0a4a104714043eab85a69ea03f18472_1_0_7 in scene +Goal: place blue and white modern electric iron next to rustic golden brown bread +[2026-05-26 23:31:24,833] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:33:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 1816 episode 0 object objasteamiron_7dc6eeb22d424534b45783fbe997b302_1_0_2 completed with success=False +[05/26 23:33:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1816: 1 episodes +[05/26 23:33:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:33:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:33:54 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1816 +[05/26 23:33:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1816 in 2.86s (batch: 2.77s, save: 0.09s) +[05/26 23:33:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1816 +[05/26 23:33:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1816: 0/1 successful episodes +[05/26 23:33:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1928 (index 17/115) +[05/26 23:33:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1928 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/26 23:33:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +Goal: place small pale leaf-shaped textured arrowhead next to blue spaceship +[2026-05-26 23:36:22,198] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:36:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 23:50:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 1928 episode 0 object objaarrowhead_adf24b01def54cb2ba548ada8cc8aa8a_1_0_2 completed with success=False +[05/26 23:50:04 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1928: 1 episodes +[05/26 23:50:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:50:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:50:06 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1928 +[05/26 23:50:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1928 in 2.33s (batch: 2.24s, save: 0.09s) +[05/26 23:50:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1928 +[05/26 23:50:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1928: 0/1 successful episodes +[05/26 23:50:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2030 (index 18/115) +[05/26 23:50:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2030 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/26 23:50:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/34 [00:00 does not support tracking retries. +[05/26 23:50:49 Worker 0 WARNING object_manager.py:1238] Could not find object objabrochure_9955a3def32b4f7e8c6efd289df59eb2_1_0_2 in scene +[05/26 23:50:49 Worker 0 WARNING object_manager.py:1238] Could not find object cup_dd0ab95e28fdee3cb4033adcfec9a81b_1_0_2 in scene +Goal: place blue dna helix next to silver bullet with red band tip +[2026-05-26 23:51:52,571] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:52:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:02:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 2030 episode 0 object objadecorativemodel_2d5d4f4c030240e5b938792d52cffa0e_1_0_2 completed with success=False +[05/27 00:02:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2030: 1 episodes +[05/27 00:02:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:02:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:02:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2030 +[05/27 00:02:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2030 in 2.22s (batch: 2.13s, save: 0.09s) +[05/27 00:02:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2030 +[05/27 00:02:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2030: 0/1 successful episodes +[05/27 00:02:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2098 (index 19/115) +[05/27 00:02:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2098 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 00:02:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +[05/27 00:02:42 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativewallart_41ab3efe80974302bff69de2400e67bc_1_0_8 in scene +Goal: place red vintage rotary dial payphone next to slim blue cell phone with pattern +[2026-05-27 00:03:44,231] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:04:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:16:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 2098 episode 0 object objapayphone_a759edc5f9af4ee0a08391d2c5049c0b_1_0_4 completed with success=False +[05/27 00:16:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2098: 1 episodes +[05/27 00:16:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:17:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:17:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2098 +[05/27 00:17:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2098 in 2.83s (batch: 2.74s, save: 0.09s) +[05/27 00:17:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2098 +[05/27 00:17:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2098: 0/1 successful episodes +[05/27 00:17:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2207 (index 20/115) +[05/27 00:17:03 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2207 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 00:17:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[05/27 00:19:35 Worker 0 WARNING object_manager.py:1238] Could not find object objamagnifyingglass_1f86dd8841864e67a96614fec44f2222_1_0_5 in scene +Goal: place brown leather wallet with woven edges next to colorful red parrot with wings +[2026-05-27 00:20:37,673] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:21:20 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:31:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 2207 episode 0 object objawallet_45e061790f364b1da9ff876382adca02_1_0_4 completed with success=False +[05/27 00:32:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2207: 1 episodes +[05/27 00:32:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:32:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:32:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2207 +[05/27 00:32:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2207 in 2.95s (batch: 2.86s, save: 0.09s) +[05/27 00:32:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2207 +[05/27 00:32:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2207: 0/1 successful episodes +[05/27 00:32:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2338 (index 21/115) +[05/27 00:32:04 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2338 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 00:32:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/62 [00:00 does not support tracking retries. +Goal: place green emergency exit sign next to slim rectangular phone +[2026-05-27 00:33:34,071] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:50:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 2338 episode 0 object objaemergencyexitsign_0346252dca2640d799b6d5ba5055851c_1_0_2 completed with success=False +[05/27 00:51:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2338: 1 episodes +[05/27 00:51:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:51:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:51:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2338 +[05/27 00:51:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2338 in 2.85s (batch: 2.76s, save: 0.10s) +[05/27 00:51:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2338 +[05/27 00:51:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2338: 0/1 successful episodes +[05/27 00:51:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2442 (index 22/115) +[05/27 00:51:04 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2442 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 00:51:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +Goal: place polished round bronze knocker next to rectangular pillow with earthy stripes +[2026-05-27 00:52:11,846] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:06:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 2442 episode 0 object objadoorknocker_6327f620b1044a16b21216caaf6b107a_1_0_6 completed with success=False +[05/27 01:06:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2442: 1 episodes +[05/27 01:06:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:06:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:06:43 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2442 +[05/27 01:06:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2442 in 2.87s (batch: 2.77s, save: 0.09s) +[05/27 01:06:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2442 +[05/27 01:06:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2442: 0/1 successful episodes +[05/27 01:06:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2491 (index 23/115) +[05/27 01:06:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2491 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 01:06:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +Goal: place blue puzzle piece with rainbow next to transparent tall slender wine glass +[2026-05-27 01:08:19,680] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:08:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 01:28:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 2491 episode 0 object objapuzzlepiece_8882000196234ce7aefd64b149f3064e_1_0_2 completed with success=False +[05/27 01:28:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2491: 1 episodes +[05/27 01:28:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:28:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:28:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2491 +[05/27 01:28:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2491 in 2.94s (batch: 2.85s, save: 0.09s) +[05/27 01:28:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2491 +[05/27 01:28:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2491: 0/1 successful episodes +[05/27 01:28:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2607 (index 24/115) +[05/27 01:28:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2607 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 01:28:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/14 [00:00 does not support tracking retries. +[05/27 01:28:35 Worker 0 WARNING object_manager.py:1238] Could not find object objamodelhouseroof_309fa6d6eba647d59e71f8b610d62241_1_0_3 in scene +[05/27 01:28:35 Worker 0 WARNING object_manager.py:1238] Could not find object plate_f61129d9e389712b24d18993ffe91ff5_1_0_3 in scene +Goal: place colorful garden gnome with beard next to red faceted gemstone +[2026-05-27 01:29:38,480] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:30:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 01:36:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 2607 episode 0 object objagardengnome_51597381f06e4a2ca353b478e5ca9fcb_1_0_2 completed with success=False +[05/27 01:36:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2607: 1 episodes +[05/27 01:36:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:36:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:36:15 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2607 +[05/27 01:36:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2607 in 2.91s (batch: 2.82s, save: 0.09s) +[05/27 01:36:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2607 +[05/27 01:36:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2607: 0/1 successful episodes +[05/27 01:36:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2735 (index 25/115) +[05/27 01:36:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2735 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 01:36:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/63 [00:00 does not support tracking retries. +[05/27 01:36:24 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaper_903ed803932340b19104cf5232c5dcc4_1_0_9 in scene +[05/27 01:36:24 Worker 0 WARNING object_manager.py:1238] Could not find object objatooth_00fa4f74e10b4769830bf60469c65e27_1_0_9 in scene +Goal: place black grenade with graffiti next to round medal with ribbon +[2026-05-27 01:37:27,608] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:56:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 2735 episode 0 object objagrenade_2bf43075c62749e28e1a8c2f0d766c67_1_0_2 completed with success=False +[05/27 01:56:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2735: 1 episodes +[05/27 01:56:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:56:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:56:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2735 +[05/27 01:56:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2735 in 2.87s (batch: 2.78s, save: 0.09s) +[05/27 01:56:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2735 +[05/27 01:56:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2735: 0/1 successful episodes +[05/27 01:56:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2842 (index 26/115) +[05/27 01:56:35 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2842 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 01:56:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +Goal: place yellow geiger counter with antennas next to flat brown h-shaped rectangular piece +[2026-05-27 01:58:11,620] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:12:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 2842 episode 0 object objageigercounter_fdbe3ec34d3940989088368c1d29eebb_1_0_6 completed with success=False +[05/27 02:12:04 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2842: 1 episodes +[05/27 02:12:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:12:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:12:07 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2842 +[05/27 02:12:07 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2842 in 2.90s (batch: 2.81s, save: 0.09s) +[05/27 02:12:08 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2842 +[05/27 02:12:08 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2842: 0/1 successful episodes +[05/27 02:12:08 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2914 (index 27/115) +[05/27 02:12:08 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2914 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 02:12:08 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/24 [00:00 does not support tracking retries. +Goal: place bronze statue of nude female next to bulbous shiny gold metallic vase +[2026-05-27 02:13:14,949] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:13:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 02:24:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 2914 episode 0 object statue_cf03a53cab61be46a9663efe8cfd6045_1_0_4 completed with success=False +[05/27 02:24:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2914: 1 episodes +[05/27 02:24:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:24:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:24:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2914 +[05/27 02:24:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2914 in 2.20s (batch: 2.11s, save: 0.09s) +[05/27 02:24:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2914 +[05/27 02:24:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2914: 0/1 successful episodes +[05/27 02:24:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3041 (index 28/115) +[05/27 02:24:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3041 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 02:24:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/44 [00:00 does not support tracking retries. +Goal: place dark portable gas torch with label next to green plant with leaves +[2026-05-27 02:25:34,400] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:28:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 3041 episode 0 object objagastorch_9d24aac8a4c444a1b440647aa6f96438_1_0_6 completed with success=True +[05/27 02:28:46 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3041: 1 episodes +[05/27 02:28:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 105 timesteps +[05/27 02:28:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:28:48 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3041 +[05/27 02:28:48 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3041 in 2.60s (batch: 2.56s, save: 0.04s) +[05/27 02:28:49 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3041 +[05/27 02:28:49 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3041: 1/1 successful episodes +[05/27 02:28:49 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3142 (index 29/115) +[05/27 02:28:49 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3142 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 02:28:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +[05/27 02:29:10 Worker 0 WARNING object_manager.py:1238] Could not find object objanoveltytoy_a223cbac2a604c1a8a26331b783a9647_1_0_6 in scene +Goal: place orange blowtorch next to purple crystal formation on base +[2026-05-27 02:30:15,485] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:47:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 3142 episode 0 object objablowtorch_0d68b80a863f452190dc2119ec0648a9_1_0_4 completed with success=False +[05/27 02:48:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3142: 1 episodes +[05/27 02:48:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:48:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:48:03 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3142 +[05/27 02:48:03 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3142 in 2.28s (batch: 2.19s, save: 0.09s) +[05/27 02:48:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3142 +[05/27 02:48:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3142: 0/1 successful episodes +[05/27 02:48:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3233 (index 30/115) +[05/27 02:48:04 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3233 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 02:48:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +Goal: place red candy cane shaped hook next to white stone +[2026-05-27 02:49:18,003] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:49:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 03:07:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 3233 episode 0 object objadecorativehook_b879e5c52f244d00a29b91837c5f54c5_1_0_6 completed with success=False +[05/27 03:07:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3233: 1 episodes +[05/27 03:07:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:07:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:07:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3233 +[05/27 03:07:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3233 in 2.26s (batch: 2.17s, save: 0.09s) +[05/27 03:07:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3233 +[05/27 03:07:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3233: 0/1 successful episodes +[05/27 03:07:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3282 (index 31/115) +[05/27 03:07:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3282 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 03:07:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[05/27 03:07:49 Worker 0 WARNING object_manager.py:1238] Could not find object objaclimbingshoe_6612b1e3ee2b4e08952f6bf2b26bd75a_2_0_3 in scene +[05/27 03:07:49 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_2_0_3 in scene +Goal: place bowl next to slim blue cell phone with pattern +[2026-05-27 03:08:50,983] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:23:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 3282 episode 0 object bowl_2f9f64388a995199e35022d1cbe33117_1_0_6 completed with success=False +[05/27 03:23:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3282: 1 episodes +[05/27 03:23:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:23:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:23:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3282 +[05/27 03:23:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3282 in 2.82s (batch: 2.73s, save: 0.09s) +[05/27 03:23:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3282 +[05/27 03:23:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3282: 0/1 successful episodes +[05/27 03:23:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3364 (index 32/115) +[05/27 03:23:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3364 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 03:23:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/56 [00:00 does not support tracking retries. +[05/27 03:23:28 Worker 0 WARNING object_manager.py:1238] Could not find object objatapedispenser_a4dda5be59374f9eabc8185a43e88611_1_0_5 in scene +Goal: place dark handle magnifying glass next to yellow handheld device with antenna +[2026-05-27 03:24:30,450] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:41:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 3364 episode 0 object objamagnifyingglass_46e565bd25934ef4a25f98c7b237fcb6_1_0_6 completed with success=False +[05/27 03:41:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3364: 1 episodes +[05/27 03:41:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:41:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:41:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3364 +[05/27 03:41:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3364 in 2.20s (batch: 2.12s, save: 0.09s) +[05/27 03:41:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3364 +[05/27 03:41:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3364: 0/1 successful episodes +[05/27 03:41:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3412 (index 33/115) +[05/27 03:41:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3412 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 03:41:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 does not support tracking retries. +[05/27 03:41:56 Worker 0 WARNING object_manager.py:1238] Could not find object objarunningshoe_78592db7cad94648b66edb363c5add2c_1_0_5 in scene +[05/27 03:41:56 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeemblem_72eedb60542841c0a11d429d19854814_1_0_5 in scene +[05/27 03:41:56 Worker 0 WARNING object_manager.py:1238] Could not find object objalighter_90536f2654814b4bb73d97a0020408b4_1_0_5 in scene +[05/27 03:41:56 Worker 0 WARNING object_manager.py:1238] Could not find object objalighter_26517aa3be4441e290b40e57173cae71_1_0_5 in scene +[05/27 03:41:56 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +Goal: place shiny gold candy wrapper with twists next to round wooden bowl +[2026-05-27 03:42:59,803] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:43:32 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 03:57:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 3412 episode 0 object objacandywrapper_f63a19caad054232bada31bf9dda010b_1_0_8 completed with success=False +[05/27 03:57:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3412: 1 episodes +[05/27 03:57:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:57:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:57:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3412 +[05/27 03:57:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3412 in 2.81s (batch: 2.72s, save: 0.09s) +[05/27 03:57:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3412 +[05/27 03:57:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3412: 0/1 successful episodes +[05/27 03:57:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3502 (index 34/115) +[05/27 03:57:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3502 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 03:57:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +[05/27 03:57:19 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeribbon_3be787e16e6a4f5fb8f4830d0b2cb03b_2_0_3 in scene +[05/27 03:57:19 Worker 0 WARNING object_manager.py:1238] Could not find object objadentures_46145e0221e94a3185b215c07d0f4340_1_0_3 in scene +Goal: place pastel scepter next to rustic stone mallet +[2026-05-27 03:58:21,627] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:58:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:10:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 3502 episode 0 object objadecorativescepter_325bf6c9f06a4438b0cd408c3ba59c95_1_0_4 completed with success=False +[05/27 04:10:46 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3502: 1 episodes +[05/27 04:10:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:10:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:10:49 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3502 +[05/27 04:10:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3502 in 2.92s (batch: 2.83s, save: 0.09s) +[05/27 04:10:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3502 +[05/27 04:10:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3502: 0/1 successful episodes +[05/27 04:10:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3585 (index 35/115) +[05/27 04:10:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3585 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 04:10:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/18 [00:00 does not support tracking retries. +Goal: place yellow teardrop weight with hanging loop next to translucent ergonomic spray bottle +[2026-05-27 04:12:04,555] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:19:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 3585 episode 0 object objaweight_675cbe00e63b432f8c83c3c5f7e01763_1_0_2 completed with success=False +[05/27 04:19:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3585: 1 episodes +[05/27 04:19:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:19:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:19:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3585 +[05/27 04:19:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3585 in 2.88s (batch: 2.79s, save: 0.09s) +[05/27 04:19:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3585 +[05/27 04:19:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3585: 0/1 successful episodes +[05/27 04:19:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3688 (index 36/115) +[05/27 04:19:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3688 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 04:19:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +Goal: place instrumentation next to soap dispenser +[2026-05-27 04:20:21,943] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:20:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:28:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 3688 episode 0 object objadispenser_dae48a392c5a4f3aa00235e664ee7d4d_1_0_2 completed with success=False +[05/27 04:28:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3688: 1 episodes +[05/27 04:28:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:28:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:28:15 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3688 +[05/27 04:28:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3688 in 2.19s (batch: 2.10s, save: 0.09s) +[05/27 04:28:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3688 +[05/27 04:28:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3688: 0/1 successful episodes +[05/27 04:28:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3755 (index 37/115) +[05/27 04:28:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3755 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 04:28:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +Goal: place long green dragon figure with horns next to medium shiny round bowl +[2026-05-27 04:29:23,445] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:45:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 3755 episode 0 object objadecorativedragonfigure_d3f1a89770ff44ce8ff2655ab4c458a7_1_0_8 completed with success=False +[05/27 04:45:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3755: 1 episodes +[05/27 04:45:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:45:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:45:39 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3755 +[05/27 04:45:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3755 in 2.23s (batch: 2.14s, save: 0.09s) +[05/27 04:45:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3755 +[05/27 04:45:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3755: 0/1 successful episodes +[05/27 04:45:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3884 (index 38/115) +[05/27 04:45:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3884 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 04:45:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[05/27 04:45:47 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturetower_0780a7e5369442c3967681084a046588_1_0_5 in scene +[05/27 04:45:47 Worker 0 WARNING object_manager.py:1238] Could not find object objastopwatch_39d799f20f4041228704749c854b60af_1_0_5 in scene +[05/27 04:45:47 Worker 0 WARNING object_manager.py:1238] Could not find object objaelectricalsocket_097b7c598d9a41188d96f57713357b9b_1_0_8 in scene +[05/27 04:45:47 Worker 0 WARNING object_manager.py:1238] Could not find object objamarkerpen_68d9f095a5164004a8e16858f1359be5_1_0_9 in scene +[05/27 04:45:47 Worker 0 WARNING object_manager.py:1238] Could not find object objatoyfish_7a75c224806a4d04a7a9ebba517ad100_1_0_9 in scene +Goal: place small glossy turquoise eye of horus amulet next to orange fire truck with ladder +[2026-05-27 04:46:50,698] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:47:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:59:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 3884 episode 0 object objaamulet_7300d219ed944585ace4b2509bef4f6e_1_0_4 completed with success=False +[05/27 04:59:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3884: 1 episodes +[05/27 04:59:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:59:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:59:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3884 +[05/27 04:59:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3884 in 2.91s (batch: 2.82s, save: 0.09s) +[05/27 04:59:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3884 +[05/27 04:59:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3884: 0/1 successful episodes +[05/27 04:59:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3925 (index 39/115) +[05/27 04:59:36 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 3925 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 04:59:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/27 04:59:42 Worker 0 WARNING object_manager.py:1238] Could not find object vase_d568e4c5c2948c69c05d527517276b06_1_0_8 in scene +[05/27 04:59:42 Worker 0 WARNING object_manager.py:1238] Could not find object objatoyhouse_7bf471236e644443be26715ddcfba914_1_0_9 in scene +[05/27 04:59:42 Worker 0 WARNING object_manager.py:1238] Could not find object objaheadband_a45e0fe1df584ab4b49c35ef88bd90b0_1_0_9 in scene +[05/27 04:59:42 Worker 0 WARNING object_manager.py:1238] Could not find object objasandal_55ac6b700c674f0ba07768f14c80d9d2_1_0_9 in scene +Goal: place vintage cast iron clothes iron with handle next to green apple with stem +[2026-05-27 05:00:45,591] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:16:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 3925 episode 0 object objaclothesiron_33751730969346df8aa289d31228f3fb_1_0_2 completed with success=False +[05/27 05:16:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/27 05:16:45 Worker 0 WARNING object_manager.py:1238] Could not find object vase_d568e4c5c2948c69c05d527517276b06_1_0_8 in scene +[05/27 05:16:45 Worker 0 WARNING object_manager.py:1238] Could not find object objatoyhouse_7bf471236e644443be26715ddcfba914_1_0_9 in scene +[05/27 05:16:45 Worker 0 WARNING object_manager.py:1238] Could not find object objaheadband_a45e0fe1df584ab4b49c35ef88bd90b0_1_0_9 in scene +[05/27 05:16:45 Worker 0 WARNING object_manager.py:1238] Could not find object objasandal_55ac6b700c674f0ba07768f14c80d9d2_1_0_9 in scene +Goal: place rusty vintage kerosene lantern with handle next to teal van with flowers +[2026-05-27 05:17:47,624] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:18:23 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 05:33:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 3925 episode 1 object objalantern_a1de8398597a4575a9c9a9f0a6e4dd2b_1_0_3 completed with success=False +[05/27 05:33:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3925: 2 episodes +[05/27 05:33:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:33:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:34:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:34:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:34:01 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3925 +[05/27 05:34:01 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3925 in 5.69s (batch: 5.51s, save: 0.17s) +[05/27 05:34:01 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3925 +[05/27 05:34:01 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3925: 0/2 successful episodes +[05/27 05:34:01 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4018 (index 40/115) +[05/27 05:34:01 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4018 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 05:34:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/56 [00:00 does not support tracking retries. +[05/27 05:34:07 Worker 0 WARNING object_manager.py:1238] Could not find object objapapertowelroll_d62583f82dfe46f0a8a8255d35a6de62_1_0_5 in scene +[05/27 05:34:07 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene +Goal: place long rusty metal rail with notches next to laptop computer +[2026-05-27 05:35:10,217] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:35:47 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 05:53:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 4018 episode 0 object objametalrail_9643f982b1f84927af2ecd167a1ce232_1_0_3 completed with success=False +[05/27 05:53:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4018: 1 episodes +[05/27 05:53:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:53:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:53:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4018 +[05/27 05:53:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4018 in 2.92s (batch: 2.82s, save: 0.09s) +[05/27 05:53:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4018 +[05/27 05:53:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4018: 0/1 successful episodes +[05/27 05:53:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4108 (index 41/115) +[05/27 05:53:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4108 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 05:53:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +Goal: place tall metal lock next to simple light brown ceramic bowl +[2026-05-27 05:54:21,135] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:54:54 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 06:10:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 4108 episode 0 object objasecuritydevice_dd640cbe9b2444ecb928d3b5b0e67956_1_0_8 completed with success=False +[05/27 06:10:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4108: 1 episodes +[05/27 06:10:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:10:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:10:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4108 +[05/27 06:10:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4108 in 2.31s (batch: 2.19s, save: 0.12s) +[05/27 06:10:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4108 +[05/27 06:10:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4108: 0/1 successful episodes +[05/27 06:10:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4192 (index 42/115) +[05/27 06:10:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4192 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 06:10:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/17 [00:00 does not support tracking retries. +Goal: place dark wand with red crystal next to glass +[2026-05-27 06:11:38,770] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:12:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 06:19:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 4192 episode 0 object objawand_2ae875cdb30240feb83d769b134115b2_1_0_2 completed with success=False +[05/27 06:19:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4192: 1 episodes +[05/27 06:19:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:19:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:19:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4192 +[05/27 06:19:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4192 in 2.92s (batch: 2.83s, save: 0.09s) +[05/27 06:19:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4192 +[05/27 06:19:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4192: 0/1 successful episodes +[05/27 06:19:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4263 (index 43/115) +[05/27 06:19:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4263 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 06:19:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/60 [00:00 does not support tracking retries. +[05/27 06:19:33 Worker 0 WARNING object_manager.py:1238] Could not find object objaemblem_f948740713184d839e714a860cf8e997_1_0_5 in scene +[05/27 06:19:33 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene +Goal: place vintage portable radio next to bust of woman statue +[2026-05-27 06:20:36,178] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:41:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 4263 episode 0 object objaportableradio_3c64c2aedd5e4eb589011d146db6a282_1_0_7 completed with success=False +[05/27 06:41:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4263: 1 episodes +[05/27 06:41:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:41:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:41:48 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4263 +[05/27 06:41:48 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4263 in 2.92s (batch: 2.80s, save: 0.12s) +[05/27 06:41:49 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4263 +[05/27 06:41:49 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4263: 0/1 successful episodes +[05/27 06:41:49 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4303 (index 44/115) +[05/27 06:41:49 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4303 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 06:41:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/27 06:41:54 Worker 0 WARNING object_manager.py:1238] Could not find object egg_aeca24b46189bee76c22ec0349729d60_1_0_8 in scene +Goal: place green pliers next to blue vase +[2026-05-27 06:43:02,788] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:56:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 4303 episode 0 object objaneedlenosepliers_0079418517784f2bbf0aec6fd8de3cde_1_0_8 completed with success=False +[05/27 06:56:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4303: 1 episodes +[05/27 06:56:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:56:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:56:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4303 +[05/27 06:56:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4303 in 2.82s (batch: 2.73s, save: 0.09s) +[05/27 06:56:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4303 +[05/27 06:56:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4303: 0/1 successful episodes +[05/27 06:56:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4348 (index 45/115) +[05/27 06:56:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4348 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 06:56:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/7 [00:00 does not support tracking retries. +Goal: place ciabatta olive bread package next to glossy dark hand +[2026-05-27 06:57:26,707] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:58:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 07:03:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 4348 episode 0 object objapackagedfood_d9e056fc90d44ed080ac692526cb39d5_1_0_2 completed with success=False +[05/27 07:03:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4348: 1 episodes +[05/27 07:03:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:03:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:03:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4348 +[05/27 07:03:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4348 in 2.95s (batch: 2.85s, save: 0.09s) +[05/27 07:03:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4348 +[05/27 07:03:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4348: 0/1 successful episodes +[05/27 07:03:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4444 (index 46/115) +[05/27 07:03:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4444 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 07:03:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/58 [00:00 does not support tracking retries. +[05/27 07:03:45 Worker 0 WARNING object_manager.py:1238] Could not find object objadentures_46145e0221e94a3185b215c07d0f4340_1_0_5 in scene +[05/27 07:03:45 Worker 0 WARNING object_manager.py:1238] Could not find object objawoodentablet_090408c682e348a0ab00d904ae850628_1_0_5 in scene +Goal: place yellow cup next to white triangular wedge with texture +[2026-05-27 07:04:48,157] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:05:25 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 07:20:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 4444 episode 0 object objacup_1595f63fbeb3421aa8a261c3815e3512_1_0_2 completed with success=False +[05/27 07:20:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4444: 1 episodes +[05/27 07:20:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:20:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:20:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4444 +[05/27 07:20:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4444 in 2.24s (batch: 2.15s, save: 0.09s) +[05/27 07:20:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4444 +[05/27 07:20:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4444: 0/1 successful episodes +[05/27 07:20:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4541 (index 47/115) +[05/27 07:20:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4541 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 07:20:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +[05/27 07:20:59 Worker 0 WARNING object_manager.py:1238] Could not find object objalantern_0ec01afc7122493d8e8aecef2951df9c_1_0_5 in scene +[05/27 07:20:59 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativesymbol_096e1889564d4e9c8836c7805c1ecebf_1_0_5 in scene +Goal: place brown fabric spool next to hardcover book with wood-textured spine +[2026-05-27 07:22:03,412] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:38:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 4541 episode 0 object objafabricroll_3bde9cdce2e5457dac80f941d5ad9397_1_0_7 completed with success=False +[05/27 07:38:46 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4541: 1 episodes +[05/27 07:38:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:38:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:38:48 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4541 +[05/27 07:38:48 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4541 in 2.22s (batch: 2.13s, save: 0.09s) +[05/27 07:38:49 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4541 +[05/27 07:38:49 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4541: 0/1 successful episodes +[05/27 07:38:49 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4649 (index 48/115) +[05/27 07:38:49 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4649 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 07:38:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +[05/27 07:39:04 Worker 0 WARNING object_manager.py:1238] Could not find object objahikingshoe_41c91f680a55496ca83144519402c2f6_1_0_7 in scene +Goal: place soft taco next to bulbous shiny gold metallic vase +[2026-05-27 07:40:06,102] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:51:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 4649 episode 0 object objataco_5b8095131eca4914b6dce4e96b290a3f_1_0_8 completed with success=False +[05/27 07:51:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4649: 1 episodes +[05/27 07:51:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:51:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:51:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4649 +[05/27 07:51:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4649 in 2.85s (batch: 2.75s, save: 0.09s) +[05/27 07:51:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4649 +[05/27 07:51:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4649: 0/1 successful episodes +[05/27 07:51:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4690 (index 49/115) +[05/27 07:51:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4690 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 07:51:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +Goal: place red swiss army knife with tools next to metal valve +[2026-05-27 07:53:01,149] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:03:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 4690 episode 0 object objaswissarmyknife_abf4a9f4cc2040a1a886516c385cf8c3_1_0_6 completed with success=False +[05/27 08:03:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4690: 1 episodes +[05/27 08:03:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:03:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:03:25 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4690 +[05/27 08:03:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4690 in 2.23s (batch: 2.14s, save: 0.10s) +[05/27 08:03:25 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4690 +[05/27 08:03:25 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4690: 0/1 successful episodes +[05/27 08:03:25 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4764 (index 50/115) +[05/27 08:03:25 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4764 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 08:03:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/6 [00:00 does not support tracking retries. +Goal: place beige cylindrical spray can with blue nozzle next to medium ripe red tomato with stem +[2026-05-27 08:04:29,176] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:09:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 4764 episode 0 object objaspraycan_2a8a6f27693840e8b3990a277c39434e_1_0_2 completed with success=False +[05/27 08:09:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4764: 1 episodes +[05/27 08:09:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:09:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:09:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4764 +[05/27 08:09:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4764 in 2.24s (batch: 2.15s, save: 0.09s) +[05/27 08:09:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4764 +[05/27 08:09:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4764: 0/1 successful episodes +[05/27 08:09:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4781 (index 51/115) +[05/27 08:09:56 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4781 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 08:09:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/39 [00:00 does not support tracking retries. +Goal: place shiny gold candy wrapper with twists next to spherical puzzle globe map +[2026-05-27 08:11:05,055] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:11:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 08:24:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 4781 episode 0 object objacandywrapper_f63a19caad054232bada31bf9dda010b_1_0_2 completed with success=False +[05/27 08:24:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/39 [00:00 does not support tracking retries. +Goal: place purple candy wrapper with lighthouse next to transparent soap bottle with dark pump +[2026-05-27 08:25:38,328] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:26:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 08:38:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 4781 episode 1 object objacandywrapper_4a0fdf73d0474d778fd65ba220f50a71_1_0_2 completed with success=False +[05/27 08:38:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4781: 2 episodes +[05/27 08:38:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:38:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:38:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:38:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:38:45 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4781 +[05/27 08:38:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4781 in 4.55s (batch: 4.37s, save: 0.18s) +[05/27 08:38:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4781 +[05/27 08:38:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4781: 0/2 successful episodes +[05/27 08:38:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4858 (index 52/115) +[05/27 08:38:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4858 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 08:38:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/13 [00:00 does not support tracking retries. +Goal: place sleek black vr headset with star next to tall cream candle in dark holder +[2026-05-27 08:39:53,360] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:40:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 08:47:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 4858 episode 0 object objavirtualrealityheadset_deb9d583faf24786b06f2bf3f898abba_1_0_3 completed with success=False +[05/27 08:47:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4858: 1 episodes +[05/27 08:47:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:47:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:47:54 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4858 +[05/27 08:47:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4858 in 2.83s (batch: 2.74s, save: 0.09s) +[05/27 08:47:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4858 +[05/27 08:47:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4858: 0/1 successful episodes +[05/27 08:47:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4924 (index 53/115) +[05/27 08:47:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4924 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 08:47:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +[05/27 08:48:06 Worker 0 WARNING object_manager.py:1238] Could not find object objawinterhat_a6abcf9811ab4d598fd62ab566683cf2_1_0_4 in scene +[05/27 08:48:06 Worker 0 WARNING object_manager.py:1238] Could not find object objaexternalharddrive_65f3fd1fc6e440459aaade5c28028f53_1_0_5 in scene +[05/27 08:48:06 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeband_26be4c662c434a66b9e15d66eb4130d8_2_0_5 in scene +[05/27 08:48:06 Worker 0 WARNING object_manager.py:1238] Could not find object objacapsule_da430c2f63ab44b4ac3248ea83a4277e_1_0_8 in scene +[05/27 08:48:06 Worker 0 WARNING object_manager.py:1238] Could not find object tomato_cf857d03afb41a06e23216bfba1c643e_1_0_8 in scene +Goal: place gold drill bit next to blue globe with penguin on top +[2026-05-27 08:49:09,624] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:03:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 4924 episode 0 object objadrillbit_558c7a29208b474fb727d7482cc0be39_1_0_9 completed with success=False +[05/27 09:04:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4924: 1 episodes +[05/27 09:04:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:04:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:04:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4924 +[05/27 09:04:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4924 in 2.25s (batch: 2.16s, save: 0.09s) +[05/27 09:04:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4924 +[05/27 09:04:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4924: 0/1 successful episodes +[05/27 09:04:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5000 (index 54/115) +[05/27 09:04:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5000 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 09:04:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[05/27 09:04:37 Worker 0 WARNING object_manager.py:1238] Could not find object objabirdskull_e4d9884f3aab481381c7eda752c45e8d_1_0_5 in scene +[05/27 09:04:37 Worker 0 WARNING object_manager.py:1238] Could not find object objaanimalskull_181ba19843ae482bb2d60e23b4db283e_1_0_5 in scene +Goal: place bold yellow text sculpture saying party next to square olive green ceramic plate +[2026-05-27 09:05:39,195] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:06:12 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 09:16:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 5000 episode 0 object objadecorativetext_dea5d073a34b44a5a6824f0f5a127db7_1_0_6 completed with success=False +[05/27 09:17:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5000: 1 episodes +[05/27 09:17:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:17:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:17:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5000 +[05/27 09:17:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5000 in 2.82s (batch: 2.73s, save: 0.09s) +[05/27 09:17:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5000 +[05/27 09:17:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5000: 0/1 successful episodes +[05/27 09:17:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5108 (index 55/115) +[05/27 09:17:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5108 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 09:17:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/26 [00:00 does not support tracking retries. +[05/27 09:17:16 Worker 0 WARNING object_manager.py:1238] Could not find object objatoycamera_8eff73b71375445a8ba75949d58bd3e0_1_0_7 in scene +Goal: place vintage portable radio next to square white ceramic plate with ridges +[2026-05-27 09:18:18,912] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:18:54 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 09:27:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 5108 episode 0 object objaportableradio_3c64c2aedd5e4eb589011d146db6a282_1_0_6 completed with success=False +[05/27 09:27:46 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5108: 1 episodes +[05/27 09:27:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:27:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:27:49 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5108 +[05/27 09:27:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5108 in 2.28s (batch: 2.19s, save: 0.09s) +[05/27 09:27:49 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5108 +[05/27 09:27:49 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5108: 0/1 successful episodes +[05/27 09:27:49 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5185 (index 56/115) +[05/27 09:27:49 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5185 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 09:27:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +[05/27 09:27:55 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingpanel_a3d6f7df9ff94ed59f95d5086d5f3fdd_1_0_4 in scene +Goal: place camouflage suppressor next to rectangular yellow plaid pillow +[2026-05-27 09:28:58,510] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:44:02 Worker 0 INFO pipeline.py:1114] Worker 0 house 5185 episode 0 object objasuppressor_6dcc657967014bc7846c58ebc7657f01_1_0_3 completed with success=False +[05/27 09:44:06 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5185: 1 episodes +[05/27 09:44:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:44:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:44:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5185 +[05/27 09:44:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5185 in 2.91s (batch: 2.82s, save: 0.09s) +[05/27 09:44:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5185 +[05/27 09:44:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5185: 0/1 successful episodes +[05/27 09:44:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5278 (index 57/115) +[05/27 09:44:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5278 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 09:44:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +Goal: place green pcb with components next to lightweight brown cardboard box with flaps +[2026-05-27 09:45:21,862] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:45:54 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 09:55:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 5278 episode 0 object objaprintedcircuitboard_ce1bbb8d4d4f4be4832b662b27dca3bc_1_0_7 completed with success=False +[05/27 09:55:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5278: 1 episodes +[05/27 09:55:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:55:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:55:51 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5278 +[05/27 09:55:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5278 in 2.81s (batch: 2.72s, save: 0.09s) +[05/27 09:55:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5278 +[05/27 09:55:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5278: 0/1 successful episodes +[05/27 09:55:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5437 (index 58/115) +[05/27 09:55:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5437 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 09:55:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/58 [00:00 does not support tracking retries. +Goal: place fresh pineapple with spiky green leaves next to bulbous shiny gold vase +[2026-05-27 09:57:32,142] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:14:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 5437 episode 0 object objapineapple_3abb3e01b4734f44a312de3f7953bdd6_1_0_2 completed with success=False +[05/27 10:14:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5437: 1 episodes +[05/27 10:14:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:14:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:14:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5437 +[05/27 10:14:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5437 in 2.83s (batch: 2.74s, save: 0.09s) +[05/27 10:14:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5437 +[05/27 10:14:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5437: 0/1 successful episodes +[05/27 10:14:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5508 (index 59/115) +[05/27 10:14:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5508 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 10:14:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/27 10:14:31 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeband_26be4c662c434a66b9e15d66eb4130d8_1_0_5 in scene +[05/27 10:14:31 Worker 0 WARNING object_manager.py:1238] Could not find object objacleaningsponge_f173c4e92f854efe86fa939466e08e4b_1_0_5 in scene +Goal: place dark metal chisel next to teal dragon +[2026-05-27 10:15:34,980] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:33:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 5508 episode 0 object objachisel_d02e673a43fd4d5a8bdf76ff0bd60dbf_2_0_3 completed with success=False +[05/27 10:33:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5508: 1 episodes +[05/27 10:33:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:33:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:33:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5508 +[05/27 10:33:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5508 in 2.83s (batch: 2.74s, save: 0.09s) +[05/27 10:33:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5508 +[05/27 10:33:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5508: 0/1 successful episodes +[05/27 10:33:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5592 (index 60/115) +[05/27 10:33:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5592 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 10:33:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +[05/27 10:33:52 Worker 0 WARNING object_manager.py:1238] Could not find object objahandmodel_68256e3205da4eb9a4308b477d0ac5d0_1_0_8 in scene +[05/27 10:33:52 Worker 0 WARNING object_manager.py:1238] Could not find object cellulartelephone_1fa394556eb37156656d60fc604d4668_2_0_8 in scene +[05/27 10:33:52 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_9 in scene +Goal: place white bolt with green threaded shaft next to bronze female nude statue +[2026-05-27 10:34:54,913] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:35:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 10:45:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 5592 episode 0 object objabolt_2f8c479805f3427d9592185a16de8f9c_1_0_9 completed with success=False +[05/27 10:45:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5592: 1 episodes +[05/27 10:45:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:45:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:45:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5592 +[05/27 10:45:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5592 in 2.26s (batch: 2.17s, save: 0.09s) +[05/27 10:45:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5592 +[05/27 10:45:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5592: 0/1 successful episodes +[05/27 10:45:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5644 (index 61/115) +[05/27 10:45:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5644 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 10:45:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +Goal: place curved bone next to cartoon orange moth +[2026-05-27 10:47:06,555] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:01:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 5644 episode 0 object objadecorativeitem_270028bfd1404d2d9b97f54057838674_1_0_4 completed with success=False +[05/27 11:01:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5644: 1 episodes +[05/27 11:01:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:01:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:01:24 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5644 +[05/27 11:01:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5644 in 2.86s (batch: 2.76s, save: 0.09s) +[05/27 11:01:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5644 +[05/27 11:01:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5644: 0/1 successful episodes +[05/27 11:01:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5718 (index 62/115) +[05/27 11:01:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5718 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 11:01:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +Goal: place wooden paddle with accents next to ornate purple crown with gold +[2026-05-27 11:02:36,167] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:03:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 11:11:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 5718 episode 0 object objadecorativepaddle_21ebe537f4004cdeabb83243a1e76d55_1_0_2 completed with success=False +[05/27 11:11:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5718: 1 episodes +[05/27 11:11:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:11:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:11:26 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5718 +[05/27 11:11:26 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5718 in 2.88s (batch: 2.79s, save: 0.09s) +[05/27 11:11:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5718 +[05/27 11:11:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5718: 0/1 successful episodes +[05/27 11:11:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5863 (index 63/115) +[05/27 11:11:26 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5863 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 11:11:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +Goal: place white paint roller next to burgundy metallic rectangular toaster +[2026-05-27 11:12:39,873] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:23:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 5863 episode 0 object objapaintroller_9a4c9d19a1bc4bb5820e9fb5e98e9b29_1_0_6 completed with success=False +[05/27 11:23:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5863: 1 episodes +[05/27 11:23:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:23:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:23:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5863 +[05/27 11:23:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5863 in 2.87s (batch: 2.78s, save: 0.10s) +[05/27 11:23:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5863 +[05/27 11:23:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5863: 0/1 successful episodes +[05/27 11:23:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5908 (index 64/115) +[05/27 11:23:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5908 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 11:23:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +Goal: place yellow pen next to brown bowl +[2026-05-27 11:24:53,206] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:34:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 5908 episode 0 object objafountainpen_2877301eda684d2183ca24eaec21cee0_1_0_2 completed with success=False +[05/27 11:34:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5908: 1 episodes +[05/27 11:34:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:34:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:34:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5908 +[05/27 11:34:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5908 in 2.87s (batch: 2.77s, save: 0.09s) +[05/27 11:34:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5908 +[05/27 11:34:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5908: 0/1 successful episodes +[05/27 11:34:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5985 (index 65/115) +[05/27 11:34:19 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5985 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 11:34:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/7 [00:00 does not support tracking retries. +Goal: place wooden hand next to brown rusty cylindrical vintage oilcan +[2026-05-27 11:35:25,842] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:41:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 5985 episode 0 object objaartistmannequinhand_a16d835bd7e44756b621f407ba11b8cc_2_0_2 completed with success=False +[05/27 11:41:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5985: 1 episodes +[05/27 11:41:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:41:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:41:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5985 +[05/27 11:41:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5985 in 2.82s (batch: 2.73s, save: 0.09s) +[05/27 11:41:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5985 +[05/27 11:41:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5985: 0/1 successful episodes +[05/27 11:41:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6093 (index 66/115) +[05/27 11:41:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6093 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 11:41:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +Goal: place vintage wooden corkscrew with lever next to sleek turquoise aircraft with engines +[2026-05-27 11:42:43,734] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:53:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 6093 episode 0 object objacorkscrew_dd933eddfb3d4750b7e448c06b4f5b9b_1_0_6 completed with success=False +[05/27 11:54:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6093: 1 episodes +[05/27 11:54:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:54:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:54:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6093 +[05/27 11:54:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6093 in 2.84s (batch: 2.75s, save: 0.09s) +[05/27 11:54:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6093 +[05/27 11:54:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6093: 0/1 successful episodes +[05/27 11:54:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6155 (index 67/115) +[05/27 11:54:04 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6155 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 11:54:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +Goal: place golden brown chocolate chip muffin next to cutting implement +[2026-05-27 11:55:21,059] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:55:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 12:04:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 6155 episode 0 object objamuffin_dc883f9b758347f0a83235c842120f6d_1_0_6 completed with success=False +[05/27 12:04:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6155: 1 episodes +[05/27 12:04:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:04:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:04:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6155 +[05/27 12:04:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6155 in 2.27s (batch: 2.18s, save: 0.09s) +[05/27 12:04:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6155 +[05/27 12:04:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6155: 0/1 successful episodes +[05/27 12:04:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6241 (index 68/115) +[05/27 12:04:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6241 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 12:04:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/58 [00:00 does not support tracking retries. +[05/27 12:04:27 Worker 0 WARNING object_manager.py:1238] Could not find object objabasketballshoe_279cb48afa8a4a91a765b371b2aa9107_1_0_5 in scene +[05/27 12:04:27 Worker 0 WARNING object_manager.py:1238] Could not find object objalighter_a2db21b57424449f9a2d1aa08e5b0c90_1_0_5 in scene +[05/27 12:04:27 Worker 0 WARNING object_manager.py:1238] Could not find object objaneonsign_3468b4f91d5046478a3875a1066e0df6_1_0_6 in scene +Goal: place old rusted circular metal ring next to animal tissue +[2026-05-27 12:05:29,880] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:06:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 12:24:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 6241 episode 0 object objametalring_f7a6369d6e9b4465a085d8e00690d956_1_0_7 completed with success=False +[05/27 12:24:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6241: 1 episodes +[05/27 12:24:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:24:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:24:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6241 +[05/27 12:24:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6241 in 2.25s (batch: 2.16s, save: 0.09s) +[05/27 12:24:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6241 +[05/27 12:24:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6241: 0/1 successful episodes +[05/27 12:24:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6289 (index 69/115) +[05/27 12:24:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6289 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 12:24:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +Goal: place metallic tapered cup next to small oval brown potato with texture +[2026-05-27 12:26:14,951] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:26:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 12:34:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 6289 episode 0 object cup_c2a1d01cc61341b5eb8c564a7fb9c769_1_0_2 completed with success=False +[05/27 12:34:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6289: 1 episodes +[05/27 12:34:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:34:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:34:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6289 +[05/27 12:34:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6289 in 2.85s (batch: 2.76s, save: 0.09s) +[05/27 12:34:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6289 +[05/27 12:34:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6289: 0/1 successful episodes +[05/27 12:34:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6350 (index 70/115) +[05/27 12:34:35 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6350 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 12:34:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +Goal: place metal sharpener next to shiny gold vase +[2026-05-27 12:35:48,354] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:49:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 6350 episode 0 object objapencilsharpener_90238a6e97484f7ca846101ed7f43eac_1_0_4 completed with success=False +[05/27 12:49:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6350: 1 episodes +[05/27 12:49:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:49:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:49:45 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6350 +[05/27 12:49:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6350 in 2.93s (batch: 2.83s, save: 0.09s) +[05/27 12:49:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6350 +[05/27 12:49:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6350: 0/1 successful episodes +[05/27 12:49:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6421 (index 71/115) +[05/27 12:49:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6421 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 12:49:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +Goal: place off-white stone carved relief next to bulbous shiny gold metallic vase +[2026-05-27 12:51:05,516] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:51:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 12:58:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 6421 episode 0 object objawallrelief_c342f42a8dac41b19cb6d017ab19906b_1_0_3 completed with success=False +[05/27 12:58:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6421: 1 episodes +[05/27 12:58:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:58:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:58:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6421 +[05/27 12:58:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6421 in 2.81s (batch: 2.72s, save: 0.09s) +[05/27 12:58:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6421 +[05/27 12:58:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6421: 0/1 successful episodes +[05/27 12:58:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6523 (index 72/115) +[05/27 12:58:57 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6523 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 12:58:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/27 12:59:15 Worker 0 WARNING object_manager.py:1238] Could not find object objahikingshoe_36cf424a356146249c8043410083858f_1_0_5 in scene +[05/27 12:59:15 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeband_26be4c662c434a66b9e15d66eb4130d8_2_0_5 in scene +Goal: place blue dna double helix model next to blue spray bottle +[2026-05-27 13:00:18,200] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:00:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:06:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 6523 episode 0 object objadecorativemodel_2d5d4f4c030240e5b938792d52cffa0e_1_0_8 completed with success=False +[05/27 13:06:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6523: 1 episodes +[05/27 13:06:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:06:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:06:39 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6523 +[05/27 13:06:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6523 in 2.30s (batch: 2.21s, save: 0.09s) +[05/27 13:06:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6523 +[05/27 13:06:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6523: 0/1 successful episodes +[05/27 13:06:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6624 (index 73/115) +[05/27 13:06:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6624 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 13:06:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +[05/27 13:06:42 Worker 0 WARNING object_manager.py:1238] Could not find object lettuce_b5d873e9282da3d6480dce5dc1588ed8_1_0_2 in scene +Goal: place kitchen knife with yellow handle next to blue toaster appliance +[2026-05-27 13:07:45,501] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:08:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:17:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 6624 episode 0 object knife_79fd11da07e86802ec5235db6beee9a8_1_0_2 completed with success=False +[05/27 13:17:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6624: 1 episodes +[05/27 13:17:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:17:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:17:12 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6624 +[05/27 13:17:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6624 in 2.25s (batch: 2.16s, save: 0.09s) +[05/27 13:17:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6624 +[05/27 13:17:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6624: 0/1 successful episodes +[05/27 13:17:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6739 (index 74/115) +[05/27 13:17:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6739 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 13:17:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +Goal: place round-bottom flask next to soapdispenser +[2026-05-27 13:18:24,705] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:18:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:32:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 6739 episode 0 object objaflask_c0b5678842064353972d518a67f1ff13_1_0_8 completed with success=False +[05/27 13:32:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6739: 1 episodes +[05/27 13:32:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:32:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:32:51 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6739 +[05/27 13:32:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6739 in 2.79s (batch: 2.70s, save: 0.09s) +[05/27 13:32:52 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6739 +[05/27 13:32:52 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6739: 0/1 successful episodes +[05/27 13:32:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6826 (index 75/115) +[05/27 13:32:52 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6826 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 13:32:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +[05/27 13:33:00 Worker 0 WARNING object_manager.py:1238] Could not find object objarunningshoe_23f04afb5ef44cadb4930ceb2e1a0dcd_1_0_5 in scene +[05/27 13:33:00 Worker 0 WARNING object_manager.py:1238] Could not find object objadentures_46145e0221e94a3185b215c07d0f4340_1_0_5 in scene +Goal: place carved wooden king holding orb next to white quilted pillow +[2026-05-27 13:34:05,017] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:34:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:44:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 6826 episode 0 object objawoodensculpture_fce3d47b8a6b4f8ea3e727af33f5d3af_1_0_7 completed with success=False +[05/27 13:44:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6826: 1 episodes +[05/27 13:44:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:44:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:44:15 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6826 +[05/27 13:44:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6826 in 2.21s (batch: 2.12s, save: 0.09s) +[05/27 13:44:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6826 +[05/27 13:44:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6826: 0/1 successful episodes +[05/27 13:44:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6933 (index 76/115) +[05/27 13:44:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6933 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 13:44:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +Goal: place brown and white chihuahua sculpture next to blue pixelated police figure smoking +[2026-05-27 13:45:51,317] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:04:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 6933 episode 0 object objaceramicsculpture_d7176802cbe74b7eb64043e360766e80_1_0_3 completed with success=False +[05/27 14:04:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6933: 1 episodes +[05/27 14:04:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:04:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:04:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6933 +[05/27 14:04:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6933 in 2.80s (batch: 2.71s, save: 0.09s) +[05/27 14:04:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6933 +[05/27 14:04:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6933: 0/1 successful episodes +[05/27 14:04:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6994 (index 77/115) +[05/27 14:04:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6994 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 14:04:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +Goal: place walkie-talkie next to white rectangular electrical component +[2026-05-27 14:05:36,628] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:06:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 14:15:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 6994 episode 0 object objatwowayradio_ed53cb1466564895b5a0b65067c04aeb_1_0_7 completed with success=False +[05/27 14:15:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6994: 1 episodes +[05/27 14:15:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:15:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:15:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6994 +[05/27 14:15:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6994 in 2.30s (batch: 2.20s, save: 0.09s) +[05/27 14:15:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6994 +[05/27 14:15:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6994: 0/1 successful episodes +[05/27 14:15:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7057 (index 78/115) +[05/27 14:15:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7057 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 14:15:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/25 [00:00 does not support tracking retries. +Goal: place dentures next to orange wavy terracotta tile +[2026-05-27 14:16:25,516] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:27:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 7057 episode 0 object objadentures_db38ff23dc534a8c8d27a1107904ef94_1_0_5 completed with success=False +[05/27 14:27:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7057: 1 episodes +[05/27 14:27:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:27:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:27:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7057 +[05/27 14:27:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7057 in 2.19s (batch: 2.10s, save: 0.09s) +[05/27 14:27:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7057 +[05/27 14:27:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7057: 0/1 successful episodes +[05/27 14:27:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7134 (index 79/115) +[05/27 14:27:18 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 7134 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 14:27:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +[05/27 14:27:59 Worker 0 WARNING object_manager.py:1238] Could not find object objafoil_1c043fb628124513b30a2d7d3ba26bac_1_0_9 in scene +[05/27 14:27:59 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_9 in scene +Goal: place rectangular clay tablet with inscriptions next to hikingshoe +[2026-05-27 14:29:02,644] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:47:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 7134 episode 0 object objaclaytablet_dc350f51b9754a3088196be223f9c0f4_1_0_5 completed with success=False +[05/27 14:47:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +[05/27 14:48:02 Worker 0 WARNING object_manager.py:1238] Could not find object objafoil_1c043fb628124513b30a2d7d3ba26bac_1_0_9 in scene +[05/27 14:48:02 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_9 in scene +Goal: place round shallow metal dish with texture next to glossy red vase with narrow neck +[2026-05-27 14:49:07,191] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:49:39 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:07:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 7134 episode 1 object objadish_5d72b52d57604e109b4d23173707a186_1_0_2 completed with success=False +[05/27 15:07:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7134: 2 episodes +[05/27 15:07:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:07:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:07:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:07:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:07:40 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7134 +[05/27 15:07:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7134 in 5.66s (batch: 5.49s, save: 0.17s) +[05/27 15:07:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7134 +[05/27 15:07:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7134: 0/2 successful episodes +[05/27 15:07:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7140 (index 80/115) +[05/27 15:07:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7140 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 15:07:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/59 [00:00 does not support tracking retries. +Goal: place red roller with yellow core next to small beige clay smoking pipe +[2026-05-27 15:09:12,208] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:09:47 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:27:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 7140 episode 0 object objaroller_bfa3aab6d6704c0c9a48501cb239bb4d_1_0_6 completed with success=False +[05/27 15:27:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7140: 1 episodes +[05/27 15:27:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:27:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:27:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7140 +[05/27 15:27:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7140 in 2.87s (batch: 2.78s, save: 0.10s) +[05/27 15:27:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7140 +[05/27 15:27:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7140: 0/1 successful episodes +[05/27 15:27:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7220 (index 81/115) +[05/27 15:27:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7220 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 15:27:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/60 [00:00 does not support tracking retries. +[05/27 15:27:42 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeitem_cc4bcb149acd44e682eacf1b87f9d7ec_1_0_3 in scene +[05/27 15:27:42 Worker 0 WARNING object_manager.py:1238] Could not find object box_cab37dabf893c5e8d3c18a3ad1a8b8eb_1_0_3 in scene +[05/27 15:27:42 Worker 0 WARNING object_manager.py:1238] Could not find object objafoil_1c043fb628124513b30a2d7d3ba26bac_1_0_9 in scene +[05/27 15:27:42 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_6f646752c976a94a62a6979581d2556d_1_0_9 in scene +Goal: place turquoise gray handheld garden nozzle next to smooth translucent white bowl +[2026-05-27 15:28:44,852] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:46:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 7220 episode 0 object objagardenhosenozzle_619500aff9084deda175046b10dea026_1_0_2 completed with success=False +[05/27 15:46:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7220: 1 episodes +[05/27 15:46:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:46:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:46:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7220 +[05/27 15:46:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7220 in 2.25s (batch: 2.16s, save: 0.09s) +[05/27 15:46:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7220 +[05/27 15:46:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7220: 0/1 successful episodes +[05/27 15:46:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7323 (index 82/115) +[05/27 15:46:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7323 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 15:46:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/27 15:46:42 Worker 0 WARNING object_manager.py:1238] Could not find object objaadhesivetube_338fcd5ea9de466ab71641ff9f528724_1_0_5 in scene +[05/27 15:46:42 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativetile_b385283fec254ff3a812a190fe0d0de5_1_0_5 in scene +[05/27 15:46:42 Worker 0 WARNING object_manager.py:1238] Could not find object objagamingconsole_0b101590f1e34ee39fe7cfeb7264c22d_1_0_5 in scene +Goal: place red onion with stem and roots next to compact blue toaster +[2026-05-27 15:47:44,906] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:48:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 16:04:02 Worker 0 INFO pipeline.py:1114] Worker 0 house 7323 episode 0 object objaonion_3de79af9c89a441881daba64c884bbbf_2_0_2 completed with success=False +[05/27 16:04:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7323: 1 episodes +[05/27 16:04:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:04:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:04:07 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7323 +[05/27 16:04:07 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7323 in 2.26s (batch: 2.17s, save: 0.09s) +[05/27 16:04:08 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7323 +[05/27 16:04:08 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7323: 0/1 successful episodes +[05/27 16:04:08 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7362 (index 83/115) +[05/27 16:04:08 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7362 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 16:04:08 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +Goal: place black sleek wall-mounted hook next to stone slab city map +[2026-05-27 16:05:30,690] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:21:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 7362 episode 0 object objacoathook_39c055fa857242fe839af81c1de61997_1_0_6 completed with success=False +[05/27 16:21:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7362: 1 episodes +[05/27 16:21:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:21:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:21:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7362 +[05/27 16:21:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7362 in 2.35s (batch: 2.27s, save: 0.09s) +[05/27 16:21:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7362 +[05/27 16:21:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7362: 0/1 successful episodes +[05/27 16:21:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7437 (index 84/115) +[05/27 16:21:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7437 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 16:21:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/27 16:22:09 Worker 0 WARNING object_manager.py:1238] Could not find object objalighter_a2db21b57424449f9a2d1aa08e5b0c90_1_0_9 in scene +[05/27 16:22:09 Worker 0 WARNING object_manager.py:1238] Could not find object objacandle_7884554b6cdc4a399e2f948cf5c0ecae_1_0_9 in scene +Goal: place sleek metallic rod with brackets next to detailed pale animal skull +[2026-05-27 16:23:14,090] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:23:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 16:42:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 7437 episode 0 object objacurtainrod_39e17d1508e64d57889236ccc409ba33_1_0_7 completed with success=False +[05/27 16:42:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7437: 1 episodes +[05/27 16:42:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:42:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:42:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7437 +[05/27 16:42:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7437 in 2.84s (batch: 2.74s, save: 0.10s) +[05/27 16:42:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7437 +[05/27 16:42:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7437: 0/1 successful episodes +[05/27 16:42:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7501 (index 85/115) +[05/27 16:42:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7501 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 16:42:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/9 [00:00 does not support tracking retries. +Goal: place tall worn brown vintage book next to soap bottle +[2026-05-27 16:43:48,847] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:44:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 16:49:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 7501 episode 0 object objabook_ff96bdc835d64c179d37fc3f41828dfa_1_0_2 completed with success=False +[05/27 16:49:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7501: 1 episodes +[05/27 16:49:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:49:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:49:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7501 +[05/27 16:49:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7501 in 2.25s (batch: 2.16s, save: 0.09s) +[05/27 16:49:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7501 +[05/27 16:49:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7501: 0/1 successful episodes +[05/27 16:49:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7619 (index 86/115) +[05/27 16:49:19 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7619 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 16:49:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +[05/27 16:49:27 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_2 in scene +Goal: place black lightning trophy with silver plaque next to cratered gray moon +[2026-05-27 16:50:30,427] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:51:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 16:59:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 7619 episode 0 object objaaward_767baba2ef7145d188ab5437730b76ff_1_0_6 completed with success=False +[05/27 16:59:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7619: 1 episodes +[05/27 16:59:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:59:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:59:51 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7619 +[05/27 16:59:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7619 in 2.29s (batch: 2.20s, save: 0.09s) +[05/27 16:59:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7619 +[05/27 16:59:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7619: 0/1 successful episodes +[05/27 16:59:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7730 (index 87/115) +[05/27 16:59:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7730 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 16:59:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/26 [00:00 does not support tracking retries. +Goal: place gray rod with holes next to round dark crust bread +[2026-05-27 17:01:16,636] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:01:49 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 17:10:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 7730 episode 0 object objamountingfixture_c45afc98ee6c4081a0091f6cb3b0ee66_1_0_6 completed with success=False +[05/27 17:10:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7730: 1 episodes +[05/27 17:10:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:10:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:10:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7730 +[05/27 17:10:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7730 in 2.21s (batch: 2.12s, save: 0.09s) +[05/27 17:10:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7730 +[05/27 17:10:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7730: 0/1 successful episodes +[05/27 17:10:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7822 (index 88/115) +[05/27 17:10:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7822 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 17:10:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +Goal: place brass candlestick next to pink rectangular shoe box with logos +[2026-05-27 17:11:26,827] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:21:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 7822 episode 0 object objacandlestick_aa9eb2f8e6584858a1299adf6fee38fd_1_0_2 completed with success=False +[05/27 17:21:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7822: 1 episodes +[05/27 17:21:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:21:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:21:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7822 +[05/27 17:21:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7822 in 2.86s (batch: 2.76s, save: 0.09s) +[05/27 17:21:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7822 +[05/27 17:21:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7822: 0/1 successful episodes +[05/27 17:21:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7874 (index 89/115) +[05/27 17:21:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7874 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 17:21:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/25 [00:00 does not support tracking retries. +Goal: place woodworking plane next to baked goods +[2026-05-27 17:22:39,063] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:23:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 17:33:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 7874 episode 0 object objahandplane_c8e3f42e592c4addad281fed0cca95a9_1_0_6 completed with success=False +[05/27 17:33:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7874: 1 episodes +[05/27 17:33:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:33:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:33:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7874 +[05/27 17:33:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7874 in 2.19s (batch: 2.10s, save: 0.09s) +[05/27 17:33:42 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7874 +[05/27 17:33:42 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7874: 0/1 successful episodes +[05/27 17:33:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7994 (index 90/115) +[05/27 17:33:42 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7994 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 17:33:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +Goal: place handheld tool with red gear head next to dark matte cup with tapered base +[2026-05-27 17:35:04,775] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:35:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 17:42:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 7994 episode 0 object objahandheldtool_0bdb9848a979492ebc8671f1044648cf_1_0_2 completed with success=False +[05/27 17:43:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7994: 1 episodes +[05/27 17:43:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:43:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:43:06 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7994 +[05/27 17:43:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7994 in 2.88s (batch: 2.79s, save: 0.09s) +[05/27 17:43:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7994 +[05/27 17:43:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7994: 0/1 successful episodes +[05/27 17:43:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8095 (index 91/115) +[05/27 17:43:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8095 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 17:43:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/27 17:43:32 Worker 0 WARNING object_manager.py:1238] Could not find object pencil_2c624e64d6f8a208a3a089ad77d16aa1_1_0_3 in scene +[05/27 17:43:32 Worker 0 WARNING object_manager.py:1238] Could not find object vase_6cb319ff57e79d3745bd6ac29c8adb3d_2_0_7 in scene +[05/27 17:43:32 Worker 0 WARNING object_manager.py:1238] Could not find object statue_d0357892bc2a737e4da2f5a294c60c5e_1_0_8 in scene +Goal: place vintage green stick grenade next to brown bowl +[2026-05-27 17:44:35,428] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:45:08 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 18:03:53 Worker 0 INFO pipeline.py:1114] Worker 0 house 8095 episode 0 object objareplicagrenade_7edd60c4948642b290d863898cacd3dd_1_0_6 completed with success=False +[05/27 18:03:56 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8095: 1 episodes +[05/27 18:03:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:03:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:03:59 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8095 +[05/27 18:03:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8095 in 2.33s (batch: 2.24s, save: 0.10s) +[05/27 18:03:59 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8095 +[05/27 18:03:59 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8095: 0/1 successful episodes +[05/27 18:03:59 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8178 (index 92/115) +[05/27 18:03:59 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8178 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 18:03:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/24 [00:00 does not support tracking retries. +Goal: place vintage metal manual juicer next to spray +[2026-05-27 18:05:18,061] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:05:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 18:15:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 8178 episode 0 object objamanualjuicer_f80fbe1482444cc88a218db26b76a74d_1_0_6 completed with success=False +[05/27 18:15:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8178: 1 episodes +[05/27 18:15:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:15:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:15:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8178 +[05/27 18:15:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8178 in 2.84s (batch: 2.75s, save: 0.09s) +[05/27 18:15:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8178 +[05/27 18:15:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8178: 0/1 successful episodes +[05/27 18:15:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8237 (index 93/115) +[05/27 18:15:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8237 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 18:15:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/32 [00:00 does not support tracking retries. +Goal: place wrench next to white disposable paper coffee cup +[2026-05-27 18:16:56,043] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:17:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 18:28:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 8237 episode 0 object objaadjustablewrench_920576578b384b27b5c3e9bf36220c88_1_0_2 completed with success=False +[05/27 18:28:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8237: 1 episodes +[05/27 18:28:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:28:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:28:20 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8237 +[05/27 18:28:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8237 in 2.25s (batch: 2.16s, save: 0.09s) +[05/27 18:28:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8237 +[05/27 18:28:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8237: 0/1 successful episodes +[05/27 18:28:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8321 (index 94/115) +[05/27 18:28:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8321 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 18:28:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/34 [00:00 does not support tracking retries. +Goal: place curved horn next to birdskull +[2026-05-27 18:29:42,733] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:30:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 18:41:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 8321 episode 0 object objadecorativehorn_537d8e1397044be7a2f777c289497445_1_0_6 completed with success=False +[05/27 18:41:17 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8321: 1 episodes +[05/27 18:41:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:41:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:41:20 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8321 +[05/27 18:41:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8321 in 2.86s (batch: 2.77s, save: 0.09s) +[05/27 18:41:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8321 +[05/27 18:41:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8321: 0/1 successful episodes +[05/27 18:41:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8394 (index 95/115) +[05/27 18:41:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8394 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 18:41:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +Goal: place red and white soup can next to medium round brown bread loaf +[2026-05-27 18:42:37,544] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:43:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 18:51:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 8394 episode 0 object objacan_e0976ef0e465417a816b142387f41765_1_0_6 completed with success=False +[05/27 18:51:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8394: 1 episodes +[05/27 18:51:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:51:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:51:26 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8394 +[05/27 18:51:26 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8394 in 2.85s (batch: 2.75s, save: 0.09s) +[05/27 18:51:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8394 +[05/27 18:51:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8394: 0/1 successful episodes +[05/27 18:51:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8480 (index 96/115) +[05/27 18:51:26 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8480 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 18:51:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +Goal: place gavel with brown handle and brass next to bronze statue of nude female +[2026-05-27 18:52:37,590] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:59:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 8480 episode 0 object objagavel_2ae6147628c04ac7a28bfe2b5982b4c3_1_0_2 completed with success=False +[05/27 18:59:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8480: 1 episodes +[05/27 18:59:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:59:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:59:54 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8480 +[05/27 18:59:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8480 in 2.86s (batch: 2.77s, save: 0.09s) +[05/27 18:59:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8480 +[05/27 18:59:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8480: 0/1 successful episodes +[05/27 18:59:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8560 (index 97/115) +[05/27 18:59:55 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8560 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 18:59:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +Goal: place chocolatebunny next to colorful graffiti grenade with handle +[2026-05-27 19:01:19,244] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:01:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:12:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 8560 episode 0 object objachocolatebunny_e58af28ad5c3463bb40a774052541352_1_0_4 completed with success=False +[05/27 19:12:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8560: 1 episodes +[05/27 19:12:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:13:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:13:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8560 +[05/27 19:13:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8560 in 2.86s (batch: 2.76s, save: 0.10s) +[05/27 19:13:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8560 +[05/27 19:13:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8560: 0/1 successful episodes +[05/27 19:13:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8678 (index 98/115) +[05/27 19:13:02 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8678 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 19:13:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +[05/27 19:13:20 Worker 0 WARNING object_manager.py:1238] Could not find object objamarker_c94bb25528ca4d3288cd278be03479ad_1_0_5 in scene +[05/27 19:13:20 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_5 in scene +Goal: place white paper cup with starbucks logo next to yellow apple with stem +[2026-05-27 19:14:25,853] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:14:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:30:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 8678 episode 0 object objapapercup_6b8c2c26639f441cb936801ec6b7490e_1_0_2 completed with success=False +[05/27 19:30:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8678: 1 episodes +[05/27 19:30:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:30:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:30:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8678 +[05/27 19:30:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8678 in 2.96s (batch: 2.87s, save: 0.09s) +[05/27 19:30:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8678 +[05/27 19:30:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8678: 0/1 successful episodes +[05/27 19:30:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8748 (index 99/115) +[05/27 19:30:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8748 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 19:30:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +Goal: place sharp knife next to soapdispenser +[2026-05-27 19:31:22,856] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:31:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:33:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 8748 episode 0 object knife_ddd3867ee8b360621e97c1da8ea8906d_1_0_6 completed with success=False +[05/27 19:34:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8748: 1 episodes +[05/27 19:34:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:34:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:34:03 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8748 +[05/27 19:34:03 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8748 in 2.87s (batch: 2.78s, save: 0.10s) +[05/27 19:34:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8748 +[05/27 19:34:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8748: 0/1 successful episodes +[05/27 19:34:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8853 (index 100/115) +[05/27 19:34:04 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8853 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 19:34:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/59 [00:00 does not support tracking retries. +[05/27 19:34:10 Worker 0 WARNING object_manager.py:1238] Could not find object vase_d568e4c5c2948c69c05d527517276b06_1_0_7 in scene +[05/27 19:34:10 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativechain_920dd47d98484df4a23b8dee1b378c6a_2_0_8 in scene +[05/27 19:34:10 Worker 0 WARNING object_manager.py:1238] Could not find object pillow_e6c6ee75a221e60aa884f04d694f5c5d_1_0_8 in scene +[05/27 19:34:10 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativechain_a3ce79a459cc4849868eb2ab508dbd80_1_0_8 in scene +[05/27 19:34:10 Worker 0 WARNING object_manager.py:1238] Could not find object objasportsshoe_6b4506025d2e4c38bf943c377e53a82b_1_0_9 in scene +[05/27 19:34:10 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_8c6e5265f19b49709119c2628c2bdf3f_1_0_9 in scene +Goal: place crockery next to ceramic bowl +[2026-05-27 19:35:15,677] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:52:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 8853 episode 0 object objasugarbowl_9b683d621e1b4ca384050d16215b1f5b_1_0_2 completed with success=False +[05/27 19:52:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8853: 1 episodes +[05/27 19:52:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:52:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:52:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8853 +[05/27 19:52:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8853 in 2.37s (batch: 2.27s, save: 0.10s) +[05/27 19:52:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8853 +[05/27 19:52:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8853: 0/1 successful episodes +[05/27 19:52:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8905 (index 101/115) +[05/27 19:52:55 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8905 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 19:52:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/39 [00:00 does not support tracking retries. +[05/27 19:53:16 Worker 0 WARNING object_manager.py:1238] Could not find object objabottleopener_d39e342e22d84736968af167f3a865c0_1_0_8 in scene +[05/27 19:53:16 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_8 in scene +Goal: place vintage metal lantern with glass chimney next to black gaming mouse +[2026-05-27 19:54:20,504] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:54:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:08:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 8905 episode 0 object objalantern_4cdb208ff30a4e5493f73fef6246604d_1_0_9 completed with success=False +[05/27 20:08:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8905: 1 episodes +[05/27 20:08:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:08:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:08:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8905 +[05/27 20:08:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8905 in 2.26s (batch: 2.17s, save: 0.09s) +[05/27 20:08:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8905 +[05/27 20:08:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8905: 0/1 successful episodes +[05/27 20:08:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8988 (index 102/115) +[05/27 20:08:19 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8988 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 20:08:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +Goal: place ice-cream cone next to transparent tapered clear plastic cup +[2026-05-27 20:09:40,042] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:10:13 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:27:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 8988 episode 0 object objaicecreamcone_86ccdf30b5f649ab877e698ceaeace33_1_0_2 completed with success=False +[05/27 20:27:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8988: 1 episodes +[05/27 20:27:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:27:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:27:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8988 +[05/27 20:27:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8988 in 2.79s (batch: 2.70s, save: 0.09s) +[05/27 20:27:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8988 +[05/27 20:27:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8988: 0/1 successful episodes +[05/27 20:27:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9044 (index 103/115) +[05/27 20:27:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9044 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 20:27:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +Goal: place medium red apple with smooth surface next to pink heart +[2026-05-27 20:28:36,451] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:29:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:42:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 9044 episode 0 object apple_1184bcea45a878476443040fbba5b76d_1_0_2 completed with success=False +[05/27 20:42:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9044: 1 episodes +[05/27 20:42:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:42:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:42:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9044 +[05/27 20:42:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9044 in 2.36s (batch: 2.27s, save: 0.09s) +[05/27 20:42:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9044 +[05/27 20:42:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9044: 0/1 successful episodes +[05/27 20:42:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9102 (index 104/115) +[05/27 20:42:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9102 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 20:42:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +Goal: place purple serum bottle next to sleek modern juicer metal +[2026-05-27 20:44:45,096] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:45:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:58:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 9102 episode 0 object objabottle_745d282ade2c4b4c8a2b6d8c27cd9112_1_0_8 completed with success=False +[05/27 20:58:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9102: 1 episodes +[05/27 20:58:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:58:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:58:27 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9102 +[05/27 20:58:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9102 in 2.34s (batch: 2.25s, save: 0.09s) +[05/27 20:58:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9102 +[05/27 20:58:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9102: 0/1 successful episodes +[05/27 20:58:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9171 (index 105/115) +[05/27 20:58:27 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9171 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 20:58:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[05/27 20:58:44 Worker 0 WARNING object_manager.py:1238] Could not find object objanarwhalskull_7aca2583e1e44dcfa06fbf2f87ae9a7f_1_0_9 in scene +[05/27 20:58:44 Worker 0 WARNING object_manager.py:1238] Could not find object plate_5eb7564ba51c03b33a20e901d23c4f3b_1_0_9 in scene +Goal: place white rectangular light switch plate next to white rectangular switch plate +[2026-05-27 20:59:46,838] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 21:00:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 21:14:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 9171 episode 0 object objalightswitchcoverplate_8f601aff31c8480db54a5fe7c85b34c2_2_0_5 completed with success=False +[05/27 21:14:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9171: 1 episodes +[05/27 21:14:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 21:14:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 21:14:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9171 +[05/27 21:14:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9171 in 2.79s (batch: 2.70s, save: 0.09s) +[05/27 21:14:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9171 +[05/27 21:14:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9171: 0/1 successful episodes +[05/27 21:14:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9277 (index 106/115) +[05/27 21:14:19 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9277 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 21:14:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/27 21:14:57 Worker 0 WARNING object_manager.py:1238] Could not find object objacleaningsponge_afd092fac12f4ef8984b80d3d15de232_1_0_5 in scene +[05/27 21:14:57 Worker 0 WARNING object_manager.py:1238] Could not find object objasponge_fc6f343e05344c49baa810fb280e9dcb_1_0_5 in scene +Goal: place silver vintage train car model next to figure +[2026-05-27 21:16:01,471] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 21:16:34 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 21:31:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 9277 episode 0 object objatraincarmodel_72eabcdc9e4348a78864d42d439d39b0_1_0_3 completed with success=False +[05/27 21:31:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9277: 1 episodes +[05/27 21:31:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 21:31:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 21:31:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9277 +[05/27 21:31:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9277 in 2.19s (batch: 2.10s, save: 0.09s) +[05/27 21:31:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9277 +[05/27 21:31:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9277: 0/1 successful episodes +[05/27 21:31:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9337 (index 107/115) +[05/27 21:31:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9337 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 21:31:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[05/27 21:32:03 Worker 0 WARNING object_manager.py:1238] Could not find object objapendantnecklace_11a5d7ca6f1e43a2a8ee668935acfb1e_1_0_5 in scene +[05/27 21:32:03 Worker 0 WARNING object_manager.py:1238] Could not find object objaclaytablet_6f3cd26177eb4f679f06286bb6a2f304_1_0_5 in scene +Goal: place vintage metal pencil sharpener next to green hexagonal patterned shell +[2026-05-27 21:33:07,298] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 21:33:39 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 21:35:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 9337 episode 0 object objapencilsharpener_9906a13b5a5647dbad3c67a9150721cd_1_0_8 completed with success=True +[05/27 21:35:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9337: 1 episodes +[05/27 21:35:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 76 timesteps +[05/27 21:35:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 21:35:47 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9337 +[05/27 21:35:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9337 in 1.97s (batch: 1.93s, save: 0.03s) +[05/27 21:35:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9337 +[05/27 21:35:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9337: 1/1 successful episodes +[05/27 21:35:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9463 (index 108/115) +[05/27 21:35:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9463 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 21:35:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/27 21:36:03 Worker 0 WARNING object_manager.py:1238] Could not find object objaslideprojector_78d0310c779d4354be606bc41b16c8a1_1_0_5 in scene +[05/27 21:36:03 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaperroll_d72efd4c78e146d88aeff93a721c5330_1_0_5 in scene +Goal: place flower topped decorative scepter next to gold pump bottle +[2026-05-27 21:37:07,964] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 21:37:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 21:54:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 9463 episode 0 object objadecorativescepter_1eb62803af504e558ea4c6325413dfe3_1_0_2 completed with success=False +[05/27 21:54:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9463: 1 episodes +[05/27 21:54:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 21:54:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 21:54:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9463 +[05/27 21:54:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9463 in 2.27s (batch: 2.18s, save: 0.09s) +[05/27 21:54:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9463 +[05/27 21:54:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9463: 0/1 successful episodes +[05/27 21:54:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9514 (index 109/115) +[05/27 21:54:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9514 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 21:54:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +Goal: place geometric copper candleholder with candle next to teal and yellow binoculars with strap +[2026-05-27 21:55:35,722] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 22:05:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 9514 episode 0 object objacandleholder_1bc497c2bcd140de9928b2cc0543d440_1_0_7 completed with success=False +[05/27 22:05:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9514: 1 episodes +[05/27 22:05:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 22:05:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 22:05:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9514 +[05/27 22:05:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9514 in 2.24s (batch: 2.15s, save: 0.09s) +[05/27 22:05:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9514 +[05/27 22:05:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9514: 0/1 successful episodes +[05/27 22:05:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9599 (index 110/115) +[05/27 22:05:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9599 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 22:05:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +[05/27 22:05:47 Worker 0 WARNING object_manager.py:1238] Could not find object vase_d568e4c5c2948c69c05d527517276b06_1_0_2 in scene +Goal: place blue disc next to round brown dome-shaped loaf bread +[2026-05-27 22:06:52,466] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 22:07:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 22:14:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 9599 episode 0 object objafuturisticdisc_78b75c117fd84042947eac33c40f6da8_1_0_6 completed with success=False +[05/27 22:14:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9599: 1 episodes +[05/27 22:14:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 22:14:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 22:14:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9599 +[05/27 22:14:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9599 in 2.21s (batch: 2.12s, save: 0.09s) +[05/27 22:14:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9599 +[05/27 22:14:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9599: 0/1 successful episodes +[05/27 22:14:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9661 (index 111/115) +[05/27 22:14:57 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9661 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 22:14:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +Goal: place shiny gold script next to dark curved metal tool with handle +[2026-05-27 22:16:11,405] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 22:16:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 22:25:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 9661 episode 0 object objadecorativescript_698f49c7bedb4fc3a5777a9f4edcc5bc_1_0_6 completed with success=False +[05/27 22:25:35 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9661: 1 episodes +[05/27 22:25:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 22:25:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 22:25:38 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9661 +[05/27 22:25:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9661 in 2.86s (batch: 2.76s, save: 0.10s) +[05/27 22:25:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9661 +[05/27 22:25:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9661: 0/1 successful episodes +[05/27 22:25:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9759 (index 112/115) +[05/27 22:25:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9759 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 22:25:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +Goal: place sleek dark rectangular phone next to traffic signal +[2026-05-27 22:26:41,852] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 22:27:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 22:35:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 9759 episode 0 object cellulartelephone_43b2396be97b1322a94e498589888114_1_0_2 completed with success=False +[05/27 22:35:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9759: 1 episodes +[05/27 22:35:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 22:35:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 22:35:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9759 +[05/27 22:35:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9759 in 2.81s (batch: 2.72s, save: 0.09s) +[05/27 22:35:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9759 +[05/27 22:35:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9759: 0/1 successful episodes +[05/27 22:35:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9913 (index 113/115) +[05/27 22:35:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9913 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 22:35:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +Goal: place long glossy green cucumber with ridges next to light ceramic bowl +[2026-05-27 22:36:33,615] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 22:37:13 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 22:49:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 9913 episode 0 object objacucumber_389e61e3fd1e4eacad0000f2e7c31f83_1_0_8 completed with success=False +[05/27 22:49:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9913: 1 episodes +[05/27 22:49:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 22:49:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 22:49:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9913 +[05/27 22:49:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9913 in 2.21s (batch: 2.12s, save: 0.09s) +[05/27 22:49:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9913 +[05/27 22:49:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9913: 0/1 successful episodes +[05/27 22:49:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9955 (index 114/115) +[05/27 22:49:50 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 9955 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 22:49:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[05/27 22:50:10 Worker 0 WARNING object_manager.py:1238] Could not find object objarooftile_46d3ba45fd8a416a9e594deb63de6455_1_0_3 in scene +[05/27 22:50:10 Worker 0 WARNING object_manager.py:1238] Could not find object objamosaicfragment_780cc0fe43954935b548b72e5c9e129d_1_0_3 in scene +Goal: place sharp knife next to blue vintage car +[2026-05-27 22:51:17,027] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 23:04:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 9955 episode 0 object objaknife_367ef0c28acf4aaa84fc290f36414797_1_0_2 completed with success=False +[05/27 23:04:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[05/27 23:04:47 Worker 0 WARNING object_manager.py:1238] Could not find object objarooftile_46d3ba45fd8a416a9e594deb63de6455_1_0_3 in scene +[05/27 23:04:47 Worker 0 WARNING object_manager.py:1238] Could not find object objamosaicfragment_780cc0fe43954935b548b72e5c9e129d_1_0_3 in scene +Goal: place ornate golden tiara with blue gemstones next to alarmclock +[2026-05-27 23:05:49,745] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 23:06:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 23:17:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 9955 episode 1 object objatiara_019c5ddf853e4618a686feeb7c70cb3f_1_0_5 completed with success=False +[05/27 23:17:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9955: 2 episodes +[05/27 23:17:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 23:17:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 23:17:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 23:17:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 23:17:58 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9955 +[05/27 23:17:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9955 in 5.60s (batch: 5.43s, save: 0.17s) +[05/27 23:17:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9955 +[05/27 23:17:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9955: 0/2 successful episodes +[05/27 23:17:58 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses +[05/27 23:17:59 INFO pipeline.py:1496] Completed 115 houses, skipped 0 houses +[05/27 23:17:59 INFO pipeline.py:1499] Success count: 3, Total count: 119 +[05/27 23:17:59 INFO pipeline.py:1500] Success rate: 2.52% +Combined 119 episodes from 115 files → /tmp/tmpcahm8hfq.h5 + +Saved → /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/results.csv at-end: 2.52% | oracle: 2.52% of 119 episodes +[2026-05-27 23:18:14,437] INFO MolmoSpaces simulator eval finished: success=3/119 rate=0.0252 output=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval +[2026-05-27 23:18:14,438] INFO Benchmark CSV: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/results.csv diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/eval_meta.json b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/eval_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4ce3f0e251f17b46c043eea92975af0bce3c6d43 --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/eval_meta.json @@ -0,0 +1,9 @@ +{ + "step": null, + "checkpoint_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt", + "benchmark_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02", + "policy_name": "latest", + "command": "#!/usr/bin/env bash\nset -euo pipefail\ncd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy\nconda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament", + "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815", + "csv_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/results.csv" +} diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/results.csv b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/results.csv new file mode 100644 index 0000000000000000000000000000000000000000..627ac3583e1103af3bfdfdf020583fcb894a722c --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/results.csv @@ -0,0 +1,116 @@ +# policy_name: latest +# run_path: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815 +# dt: 0.066 +# max_steps: 450 +policy,category,successes,total,success_rate_pct,ci_95_low_pct,ci_95_high_pct,oracle_successes,oracle_rate_pct,oracle_ci_95_low_pct,oracle_ci_95_high_pct,jerk_joint_mean,jerk_joint_std +latest,Bowl,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,57.934648,0.0 +latest,Cellulartelephone,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.215032,0.0 +latest,Cup,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,125.45624,0.0 +latest,Fruit,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.300242,0.0 +latest,Knife,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,31.721774,19.453524 +latest,Objaadhesivetape,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,75.56108,0.0 +latest,Objaadjustablewrench,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,51.179867,0.0 +latest,Objaamulet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.09577,0.0 +latest,Objaarrowhead,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,82.178536,0.0 +latest,Objaartistmannequinhand,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,163.422927,0.0 +latest,Objaaward,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,35.027609,0.0 +latest,Objablowtorch,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,17.284418,0.0 +latest,Objabolt,1,2,50.0,9.43,90.57,1,50.0,9.43,90.57,41.913955,0.750104 +latest,Objabook,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.777107,0.0 +latest,Objabottle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,17.191039,0.0 +latest,Objacan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.893222,0.0 +latest,Objacandleholder,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.083419,0.0 +latest,Objacandlestick,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.162542,0.0 +latest,Objacandywrapper,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,41.371993,31.966502 +latest,Objaceramicsculpture,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,43.677371,0.0 +latest,Objachewinggumpackage,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.223849,0.0 +latest,Objachisel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,70.207046,0.0 +latest,Objachocolatebunny,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.337425,0.0 +latest,Objaclaydish,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,58.353734,0.0 +latest,Objaclaytablet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,80.344766,0.0 +latest,Objaclothesiron,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.665245,0.0 +latest,Objacoathook,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.163723,0.0 +latest,Objacorkscrew,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.67815,0.0 +latest,Objacucumber,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,14.439309,0.0 +latest,Objacup,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.261313,0.0 +latest,Objacurtainrod,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,34.053922,0.0 +latest,Objadecorativedragonfigure,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.099013,0.0 +latest,Objadecorativehook,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,35.000888,0.0 +latest,Objadecorativehorn,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.303404,0.0 +latest,Objadecorativeitem,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,44.601137,0.0 +latest,Objadecorativemodel,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,41.458304,6.245287 +latest,Objadecorativepaddle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.592278,0.0 +latest,Objadecorativescepter,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,43.511091,2.031 +latest,Objadecorativescript,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,39.221742,0.0 +latest,Objadecorativetext,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,46.941106,0.0 +latest,Objadentures,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,65.183467,0.0 +latest,Objadish,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,41.336363,0.0 +latest,Objadispenser,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.738996,0.0 +latest,Objadoorknocker,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,54.21573,0.0 +latest,Objadrillbit,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.882362,0.0 +latest,Objaemergencyexitsign,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,39.823779,0.0 +latest,Objafabricroll,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.225712,0.0 +latest,Objaflask,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,44.580781,0.0 +latest,Objafoodpackaging,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,41.276169,0.0 +latest,Objafountainpen,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,46.726871,0.0 +latest,Objafuturisticdisc,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,72.449389,0.0 +latest,Objagardengnome,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,27.367437,0.0 +latest,Objagardenhosenozzle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.175604,0.0 +latest,Objagastorch,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,34.241386,0.0 +latest,Objagavel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,113.781367,0.0 +latest,Objageigercounter,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,26.994532,0.0 +latest,Objagrenade,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,39.887124,0.0 +latest,Objahandaxe,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,95.962561,0.0 +latest,Objahandheldtool,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,25.502846,0.0 +latest,Objahandplane,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,52.493577,0.0 +latest,Objaicecreamcone,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,48.090555,0.0 +latest,Objaknife,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.25826,0.0 +latest,Objalantern,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,23.464402,8.731136 +latest,Objalightswitchcoverplate,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,47.500215,0.0 +latest,Objamagnifyingglass,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,41.041703,0.0 +latest,Objamanualjuicer,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,56.122338,0.0 +latest,Objamarchingbandhat,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,33.977532,0.0 +latest,Objamedallion,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.437694,0.0 +latest,Objametalrail,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,44.79383,0.0 +latest,Objametalring,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.52547,0.0 +latest,Objamountingfixture,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,9.513571,0.0 +latest,Objamuffin,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,68.089366,0.0 +latest,Objamug,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.325569,0.0 +latest,Objaneedlenosepliers,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.752148,0.0 +latest,Objaonion,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,61.162828,0.0 +latest,Objapackagedfood,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,76.699598,0.0 +latest,Objapaintroller,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.114798,0.0 +latest,Objapapercup,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,101.52525,0.0 +latest,Objapayphone,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,98.045261,0.0 +latest,Objapencilsharpener,1,2,50.0,9.43,90.57,1,50.0,9.43,90.57,119.964344,80.706333 +latest,Objapineapple,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.446187,0.0 +latest,Objaportableradio,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,43.076577,7.348875 +latest,Objapouringbowl,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,48.470347,0.0 +latest,Objaprintedcircuitboard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.160731,0.0 +latest,Objapuzzlepiece,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,64.045045,0.0 +latest,Objaremotecontrol,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.14128,0.0 +latest,Objareplicagrenade,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,26.221753,0.0 +latest,Objaroller,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.750705,0.0 +latest,Objascissors,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.642795,0.0 +latest,Objasecuritydevice,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,43.589308,0.0 +latest,Objashoelast,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.409386,0.0 +latest,Objaspraycan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,23.929735,0.0 +latest,Objasteamiron,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,87.39051,0.0 +latest,Objastopwatch,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,24.089731,0.0 +latest,Objasugarbowl,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,44.468079,0.0 +latest,Objasuppressor,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,41.017737,0.0 +latest,Objaswissarmyknife,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,81.639815,0.0 +latest,Objataco,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,63.376782,0.0 +latest,Objatiara,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,34.636043,0.0 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b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..b0d47d2ef05a3e988197e008aef2f35c74cdc1d8 --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/summary.json @@ -0,0 +1,203 @@ +{ + "checkpoint_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt", + "benchmark_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02", + "benchmark_source": "arg", + "benchmark_mode": "official", + "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815", + "policy_name": "latest", + "policy_device": "cuda:0", + "camera_names": [ + "droid_shoulder_light_randomization", + "wrist_camera_zed_mini" + ], + "preview_camera_names": [ + "droid_shoulder_light_randomization", + "wrist_camera_zed_mini" + ], + "save_video_sensors": [ + "__none__" + ], + "obs_camera_name": "droid_shoulder_light_randomization", + "obs_wrist_camera_name": "wrist_camera_zed_mini", + "action_chunk_size": 8, + "end_on_success": true, + "num_workers": 1, + "task_horizon_steps": 450, + "max_episodes": null, + "episode_idx": null, + "resolved_episode_idx": null, + "random_episode": false, + "random_seed": 42, + "metrics_mean": { + "success_rate": 0.025210084033613446, + "success_count": 3.0, + "total_episodes": 119.0, + "avg_episode_length": 440.7563025210084, + "oracle_done_rate": 0.025210084033613446, + "success_rate_pct": 2.52, + "oracle_rate_pct": 2.52 + }, + "stats": { + "total_episodes": 119, + "success_count": 3, + "failure_count": 116, + "success_rate": 0.025210084033613446, + "avg_episode_length": 440.7563025210084, + 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"task_description": "Pick up the brown leather wallet with woven edges and place it next to the colorful red parrot with wings", "object_name": "objawallet_45e061790f364b1da9ff876382adca02_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2207/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2338", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green emergency exit sign and place it next to the slim rectangular phone", "object_name": "objaemergencyexitsign_0346252dca2640d799b6d5ba5055851c_1_0_2", "data_file_path": 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"metadata": {}} +{"house_id": "house_4348", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the ciabatta olive bread package and place it next to the glossy dark hand", "object_name": "objapackagedfood_d9e056fc90d44ed080ac692526cb39d5_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4348/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4444", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the yellow cup and place it next to the white triangular wedge with texture", "object_name": "objacup_1595f63fbeb3421aa8a261c3815e3512_1_0_2", "data_file_path": 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"task_description": "Pick up the red rectangular box of pasta and place it next to the dark rustic cylindrical loaf with skewer", "object_name": "objafoodpackaging_34ad4ea886e54e139ae7d08fac8467a2_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_547/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5508", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark metal chisel and place it next to the teal dragon", "object_name": "objachisel_d02e673a43fd4d5a8bdf76ff0bd60dbf_2_0_3", "data_file_path": 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"task_description": "Pick up the curved bone and place it next to the cartoon orange moth", "object_name": "objadecorativeitem_270028bfd1404d2d9b97f54057838674_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5644/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5718", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wooden paddle with accents and place it next to the ornate purple crown with gold", "object_name": "objadecorativepaddle_21ebe537f4004cdeabb83243a1e76d55_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5718/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5863", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white paint roller and place it next to the burgundy metallic rectangular toaster", "object_name": "objapaintroller_9a4c9d19a1bc4bb5820e9fb5e98e9b29_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5863/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5908", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the yellow pen and place it next to the brown bowl", "object_name": "objafountainpen_2877301eda684d2183ca24eaec21cee0_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5908/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_595", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the adhesive tape and place it next to the intricately carved stone pyramid", "object_name": "objaadhesivetape_2222dc4b0ded4e008824c347409fd7e1_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_595/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5985", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wooden hand and place it next to the brown rusty cylindrical vintage oilcan", "object_name": "objaartistmannequinhand_a16d835bd7e44756b621f407ba11b8cc_2_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5985/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6093", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage wooden corkscrew with lever and place it next to the sleek turquoise aircraft with engines", "object_name": "objacorkscrew_dd933eddfb3d4750b7e448c06b4f5b9b_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6093/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6155", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the golden brown chocolate chip muffin and place it next to the cutting implement", "object_name": "objamuffin_dc883f9b758347f0a83235c842120f6d_1_0_6", "data_file_path": 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up the metallic tapered cup and place it next to the small oval brown potato with texture", "object_name": "cup_c2a1d01cc61341b5eb8c564a7fb9c769_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6289/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_635", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the cartoonish observatory with satellite dish and place it next to the white candle with flame", "object_name": "objatoybuilding_d82948e1023c4050915ffe4d0bd2b6ce_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_635/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6350", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the metal sharpener and place it next to the shiny gold vase", "object_name": "objapencilsharpener_90238a6e97484f7ca846101ed7f43eac_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6350/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6421", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the off-white stone carved relief and place it next to the bulbous shiny gold metallic vase", "object_name": "objawallrelief_c342f42a8dac41b19cb6d017ab19906b_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6421/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6523", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue dna double helix model and place it next to the blue spray bottle", "object_name": "objadecorativemodel_2d5d4f4c030240e5b938792d52cffa0e_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6523/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6624", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the kitchen knife with yellow handle and place it next to the blue toaster appliance", "object_name": "knife_79fd11da07e86802ec5235db6beee9a8_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6624/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6739", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the round-bottom flask and place it next to the soapdispenser", "object_name": "objaflask_c0b5678842064353972d518a67f1ff13_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6739/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6826", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the carved wooden king holding orb and place it next to the white quilted pillow", "object_name": "objawoodensculpture_fce3d47b8a6b4f8ea3e727af33f5d3af_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6826/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6933", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the brown and white chihuahua sculpture and place it next to the blue pixelated police figure smoking", "object_name": "objaceramicsculpture_d7176802cbe74b7eb64043e360766e80_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6933/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6994", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the walkie-talkie and place it next to the white rectangular electrical component", "object_name": "objatwowayradio_ed53cb1466564895b5a0b65067c04aeb_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6994/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_7057", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dentures and place it next to the orange wavy terracotta tile", "object_name": "objadentures_db38ff23dc534a8c8d27a1107904ef94_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7057/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_7134", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rectangular clay tablet with inscriptions and place it next to the hikingshoe", "object_name": "objaclaytablet_dc350f51b9754a3088196be223f9c0f4_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7134/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_7134", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the round shallow metal dish with texture and place it next to the glossy red vase with narrow neck", "object_name": "objadish_5d72b52d57604e109b4d23173707a186_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7134/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_7140", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red roller with yellow core and place it next to the small beige clay smoking pipe", "object_name": "objaroller_bfa3aab6d6704c0c9a48501cb239bb4d_1_0_6", "data_file_path": 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handheld garden nozzle and place it next to the smooth translucent white bowl", "object_name": "objagardenhosenozzle_619500aff9084deda175046b10dea026_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7220/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_7323", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red onion with stem and roots and place it next to the compact blue toaster", "object_name": "objaonion_3de79af9c89a441881daba64c884bbbf_2_0_2", "data_file_path": 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"Pick up the sleek metallic rod with brackets and place it next to the detailed pale animal skull", "object_name": "objacurtainrod_39e17d1508e64d57889236ccc409ba33_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7437/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_748", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the round terracotta clay serving dish and place it next to the shiny smooth red apple", "object_name": "objaclaydish_976f5b6e9a1344628642051f680b176b_1_0_6", "data_file_path": 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black lightning trophy with silver plaque and place it next to the cratered gray moon", "object_name": "objaaward_767baba2ef7145d188ab5437730b76ff_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7619/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_7730", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray rod with holes and place it next to the round dark crust bread", "object_name": "objamountingfixture_c45afc98ee6c4081a0091f6cb3b0ee66_1_0_6", "data_file_path": 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"task_description": "Pick up the woodworking plane and place it next to the baked goods", "object_name": "objahandplane_c8e3f42e592c4addad281fed0cca95a9_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7874/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_7994", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the handheld tool with red gear head and place it next to the dark matte cup with tapered base", "object_name": "objahandheldtool_0bdb9848a979492ebc8671f1044648cf_1_0_2", "data_file_path": 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"task_description": "Pick up the chocolatebunny and place it next to the colorful graffiti grenade with handle", "object_name": "objachocolatebunny_e58af28ad5c3463bb40a774052541352_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8560/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8678", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white paper cup with starbucks logo and place it next to the yellow apple with stem", "object_name": "objapapercup_6b8c2c26639f441cb936801ec6b7490e_1_0_2", "data_file_path": 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it next to the ceramic bowl", "object_name": "objasugarbowl_9b683d621e1b4ca384050d16215b1f5b_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8853/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8905", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage metal lantern with glass chimney and place it next to the black gaming mouse", "object_name": "objalantern_4cdb208ff30a4e5493f73fef6246604d_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8905/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_896", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the brown barrel mug and place it next to the white curved wooden molding", "object_name": "objamug_5e639b4c11ce43e0b6124371f88c9b15_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_896/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8988", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the ice-cream cone and place it next to the transparent tapered clear plastic cup", "object_name": "objaicecreamcone_86ccdf30b5f649ab877e698ceaeace33_1_0_2", "data_file_path": 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the purple serum bottle and place it next to the sleek modern juicer metal", "object_name": "objabottle_745d282ade2c4b4c8a2b6d8c27cd9112_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9102/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9171", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white rectangular light switch plate and place it next to the white rectangular switch plate", "object_name": "objalightswitchcoverplate_8f601aff31c8480db54a5fe7c85b34c2_2_0_5", "data_file_path": 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"num_steps": 449, "task_description": "Pick up the blue disc and place it next to the round brown dome-shaped loaf bread", "object_name": "objafuturisticdisc_78b75c117fd84042947eac33c40f6da8_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9599/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9661", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the shiny gold script and place it next to the dark curved metal tool with handle", "object_name": "objadecorativescript_698f49c7bedb4fc3a5777a9f4edcc5bc_1_0_6", "data_file_path": 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"Pick up the long glossy green cucumber with ridges and place it next to the light ceramic bowl", "object_name": "objacucumber_389e61e3fd1e4eacad0000f2e7c31f83_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9913/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9955", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the sharp knife and place it next to the blue vintage car", "object_name": "objaknife_367ef0c28acf4aaa84fc290f36414797_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9955/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9955", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the ornate golden tiara with blue gemstones and place it next to the alarmclock", "object_name": "objatiara_019c5ddf853e4618a686feeb7c70cb3f_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9955/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_999", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray remote with colorful buttons and place it next to the purple square pillow", "object_name": "objaremotecontrol_d838fc2535c64927a817da5a84d83a2a_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_999/trajectories_batch_1_of_1.h5", "metadata": {}} diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/submission/eval.log b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/submission/eval.log new file mode 100644 index 0000000000000000000000000000000000000000..32263241abf20ddfa6a2505f574fe1f242728c79 --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/submission/eval.log @@ -0,0 +1,3738 @@ +[2026-05-26 19:43:51,156] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath'] +[2026-05-26 19:43:51,157] INFO Using MuJoCo EGL device id: 2 +[2026-05-26 19:43:51,158] INFO Using pre-set MUJOCO_GL backend: egl +[2026-05-26 19:43:51,188] INFO Using MolmoSpaces benchmark: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 (source=arg) +[2026-05-26 19:43:53,243] INFO No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +[nltk_data] Downloading package wordnet to /home/yuanpei/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /home/yuanpei/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +[2026-05-26 19:44:02,865] INFO ResourceManager (R2RemoteStorage('https://pub-3555e9bb2d304fab9c6c79819e48aa40.r2.dev')) using: + symlink_dir=/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets + cache_dir=/home/yuanpei/.cache/molmo-spaces-resources + force_install=True +/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py:129: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +[2026-05-26 19:48:10,280] INFO Requested MolmoSpaces simulator cameras: ['droid_shoulder_light_randomization', 'wrist_camera_zed_mini'] +[2026-05-26 19:48:10,280] INFO Using save_video_sensors=['__none__'] +[2026-05-26 19:48:15,710] INFO Resolved MolmoSpaces action semantics from checkpoint: source=pnp_next_to_v2 type=molmo_raw arm_action_key=joint_pos_rel gripper_action_key=joint_pos action_type=joint_pos_rel arm_command_mode=joint_rel_position +[2026-05-26 19:48:15,759] INFO Using explicit task_horizon override: 450 steps +[05/26 19:48:16 INFO pipeline.py:677] WandB logging disabled (environment variables not set) +[2026-05-26 19:48:16,189] INFO JsonEvalRunner initialized: 115 houses, 119 episodes from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/26 19:48:16 INFO pipeline.py:1279] Starting house-by-house rollout of 115 houses with 2 episodes each (230 total episodes) using 1 worker processes +[05/26 19:48:16 INFO pipeline.py:1286] Evaluation configuration: +[05/26 19:48:16 INFO pipeline.py:1287] {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['droid_shoulder_light_randomization', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 'wan_molmobot_franka', + 'obs_camera_name': 'droid_shoulder_light_randomization', + 'obs_image_key': 'rgb_head', + 'obs_state_key': 'robot_state', + 'obs_wrist_camera_name': 'wrist_camera_zed_mini', + 'obs_wrist_image_key': 'rgb_wrist', + 'policy_cls': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [547, + 595, + 635, + 717, + 748, + 818, + 896, + 999, + 1097, + 1191, + 1276, + 1350, + 1416, + 1555, + 1678, + 1744, + 1816, + 1928, + 2030, + 2098, + 2207, + 2338, + 2442, + 2491, + 2607, + 2735, + 2842, + 2914, + 3041, + 3142, + 3233, + 3282, + 3364, + 3412, + 3502, + 3585, + 3688, + 3755, + 3884, + 3925, + 4018, + 4108, + 4192, + 4263, + 4303, + 4348, + 4444, + 4541, + 4649, + 4690, + 4764, + 4781, + 4858, + 4924, + 5000, + 5108, + 5185, + 5278, + 5437, + 5508, + 5592, + 5644, + 5718, + 5863, + 5908, + 5985, + 6093, + 6155, + 6241, + 6289, + 6350, + 6421, + 6523, + 6624, + 6739, + 6826, + 6933, + 6994, + 7057, + 7134, + 7140, + 7220, + 7323, + 7362, + 7437, + 7501, + 7619, + 7730, + 7822, + 7874, + 7994, + 8095, + 8178, + 8237, + 8321, + 8394, + 8480, + 8560, + 8678, + 8748, + 8853, + 8905, + 8988, + 9044, + 9102, + 9171, + 9277, + 9337, + 9463, + 9514, + 9599, + 9661, + 9759, + 9913, + 9955], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} +[2026-05-26 19:48:16,194] INFO Saved experiment configuration to /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815 +[05/26 19:48:16 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler +[05/26 19:48:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/26 19:48:16 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler +[05/26 19:48:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 547 (index 0/115) +[05/26 19:48:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 547 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/26 19:48:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +Goal: place red rectangular box of pasta next to dark rustic cylindrical loaf with skewer +2026-05-26 19:48:33.477 | INFO | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0 +[2026-05-26 19:48:34,360] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k) +[2026-05-26 19:48:35,056] INFO [timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k] Safe alternative available for 'pytorch_model.bin' (as 'model.safetensors'). Loading weights using safetensors. +[2026-05-26 19:48:35,550] INFO Number of parameters in DiT: 1.821428e+07 +[2026-05-26 19:48:35,745] INFO Loaded generic psi-policy checkpoint | target=psi_policy.policy.psi_policy.PsiPolicy | obs_keys=['rgb_head', 'rgb_wrist', 'robot_state', 'text_context'] | action_horizon=16 | action_dim=8 +[2026-05-26 19:48:35,748] INFO Loaded MolmoSpaces policy | checkpoint=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt | target=psi_policy.policy.psi_policy.PsiPolicy | device=cuda:0 | action_chunk_size=8 +[05/26 19:56:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 547 episode 0 object objafoodpackaging_34ad4ea886e54e139ae7d08fac8467a2_1_0_6 completed with success=False +[05/26 19:56:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_547: 1 episodes +[05/26 19:56:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 19:56:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 19:56:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_547 +[05/26 19:56:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_547 in 2.24s (batch: 2.15s, save: 0.09s) +[05/26 19:56:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_547 +[05/26 19:56:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 547: 0/1 successful episodes +[05/26 19:56:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 595 (index 1/115) +[05/26 19:56:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 595 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/26 19:56:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[05/26 19:56:38 Worker 0 WARNING object_manager.py:1238] Could not find object objabrush_f8f0d72e40d24bf8afa4b0157cbcb7c7_1_0_5 in scene +Goal: place adhesive tape next to intricately carved stone pyramid +[2026-05-26 19:57:42,592] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/huggingface_hub/file_download.py:945: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`. + warnings.warn( +[05/26 19:58:16 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 20:13:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 595 episode 0 object objaadhesivetape_2222dc4b0ded4e008824c347409fd7e1_1_0_8 completed with success=False +[05/26 20:13:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_595: 1 episodes +[05/26 20:13:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:13:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:13:43 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_595 +[05/26 20:13:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_595 in 2.29s (batch: 2.20s, save: 0.09s) +[05/26 20:13:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_595 +[05/26 20:13:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 595: 0/1 successful episodes +[05/26 20:13:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 635 (index 2/115) +[05/26 20:13:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 635 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/26 20:13:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/26 20:13:55 Worker 0 WARNING object_manager.py:1238] Could not find object tennisracket_8ce350e1a9c0b48dc32aed39a3adf033_1_0_4 in scene +Goal: place cartoonish observatory with satellite dish next to white candle with flame +[2026-05-26 20:14:57,331] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 20:28:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 635 episode 0 object objatoybuilding_d82948e1023c4050915ffe4d0bd2b6ce_1_0_5 completed with success=False +[05/26 20:28:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_635: 1 episodes +[05/26 20:28:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:28:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:28:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_635 +[05/26 20:28:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_635 in 2.23s (batch: 2.15s, save: 0.09s) +[05/26 20:28:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_635 +[05/26 20:28:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 635: 0/1 successful episodes +[05/26 20:28:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 717 (index 3/115) +[05/26 20:28:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 717 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/26 20:28:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/26 20:28:55 Worker 0 WARNING object_manager.py:1238] Could not find object objasurgicalmask_14c823dca9034aa5bcf6628c4995f63a_1_0_5 in scene +Goal: place hexagonal metal bolt next to carafe +[2026-05-26 20:29:55,830] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 20:37:02 Worker 0 INFO pipeline.py:1114] Worker 0 house 717 episode 0 object objabolt_04e3f80a4f1c4c888060fa5c5a53a188_1_0_7 completed with success=True +[05/26 20:37:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_717: 1 episodes +[05/26 20:37:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 191 timesteps +[05/26 20:37:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:37:07 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_717 +[05/26 20:37:07 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_717 in 2.05s (batch: 2.00s, save: 0.05s) +[05/26 20:37:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_717 +[05/26 20:37:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 717: 1/1 successful episodes +[05/26 20:37:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 748 (index 4/115) +[05/26 20:37:07 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 748 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/26 20:37:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +Goal: place round terracotta clay serving dish next to shiny smooth red apple +[2026-05-26 20:38:22,965] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 20:38:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 20:47:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 748 episode 0 object objaclaydish_976f5b6e9a1344628642051f680b176b_1_0_6 completed with success=False +[05/26 20:47:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_748: 1 episodes +[05/26 20:47:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:47:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:47:57 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_748 +[05/26 20:47:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_748 in 2.95s (batch: 2.86s, save: 0.09s) +[05/26 20:47:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_748 +[05/26 20:47:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 748: 0/1 successful episodes +[05/26 20:47:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 818 (index 5/115) +[05/26 20:47:57 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 818 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/26 20:47:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +Goal: place silver scissors next to slim gold metallic smartphone with buttons +[2026-05-26 20:49:16,778] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:01:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 818 episode 0 object objascissors_48161a88fb9b4982ad2dbefa137e652d_1_0_8 completed with success=False +[05/26 21:01:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_818: 1 episodes +[05/26 21:01:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:01:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:01:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_818 +[05/26 21:01:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_818 in 2.15s (batch: 2.07s, save: 0.08s) +[05/26 21:01:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_818 +[05/26 21:01:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 818: 0/1 successful episodes +[05/26 21:01:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 896 (index 6/115) +[05/26 21:01:55 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 896 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/26 21:01:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/25 [00:00 does not support tracking retries. +Goal: place brown barrel mug next to white curved wooden molding +[2026-05-26 21:03:24,008] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:13:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 896 episode 0 object objamug_5e639b4c11ce43e0b6124371f88c9b15_1_0_6 completed with success=False +[05/26 21:13:06 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_896: 1 episodes +[05/26 21:13:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:13:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:13:08 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_896 +[05/26 21:13:08 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_896 in 2.30s (batch: 2.21s, save: 0.09s) +[05/26 21:13:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_896 +[05/26 21:13:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 896: 0/1 successful episodes +[05/26 21:13:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 999 (index 7/115) +[05/26 21:13:09 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 999 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/26 21:13:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +Goal: place gray remote with colorful buttons next to purple square pillow +[2026-05-26 21:14:34,444] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:15:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 21:28:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 999 episode 0 object objaremotecontrol_d838fc2535c64927a817da5a84d83a2a_1_0_6 completed with success=False +[05/26 21:28:58 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_999: 1 episodes +[05/26 21:28:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:29:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:29:01 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_999 +[05/26 21:29:01 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_999 in 2.84s (batch: 2.76s, save: 0.09s) +[05/26 21:29:01 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_999 +[05/26 21:29:01 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 999: 0/1 successful episodes +[05/26 21:29:01 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1097 (index 8/115) +[05/26 21:29:01 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1097 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/26 21:29:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +[05/26 21:29:26 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturelighthouse_bde6dcab0a89413eba4422da59f19cef_1_0_5 in scene +[05/26 21:29:26 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_083eb9b9eb564701820d3a79377c77ce_1_0_5 in scene +Goal: place timer next to white toilet paper roll with embossing +[2026-05-26 21:30:26,119] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:30:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 21:46:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 1097 episode 0 object objastopwatch_52be3edac347411e8b4b040ab9c650fc_1_0_5 completed with success=False +[05/26 21:46:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1097: 1 episodes +[05/26 21:46:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:46:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:46:25 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1097 +[05/26 21:46:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1097 in 2.86s (batch: 2.77s, save: 0.09s) +[05/26 21:46:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1097 +[05/26 21:46:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1097: 0/1 successful episodes +[05/26 21:46:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1191 (index 9/115) +[05/26 21:46:26 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1191 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/26 21:46:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/39 [00:00 does not support tracking retries. +Goal: place brown pixelated torch next to metallic futuristic device with handle +[2026-05-26 21:47:54,057] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:00:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 1191 episode 0 object objatorch_e88c4214d4bc4437ae6d249237591071_1_0_9 completed with success=False +[05/26 22:00:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1191: 1 episodes +[05/26 22:00:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:00:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:00:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1191 +[05/26 22:00:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1191 in 2.25s (batch: 2.17s, save: 0.09s) +[05/26 22:00:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1191 +[05/26 22:00:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1191: 0/1 successful episodes +[05/26 22:00:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1276 (index 10/115) +[05/26 22:00:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1276 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/26 22:00:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +Goal: place teal shoe last with size markings next to green piggy bank with clouds +[2026-05-26 22:01:57,907] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:02:34 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 22:11:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 1276 episode 0 object objashoelast_ca1b8c8150074daea810166ec5c86b78_1_0_7 completed with success=False +[05/26 22:11:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1276: 1 episodes +[05/26 22:11:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:11:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:11:24 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1276 +[05/26 22:11:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1276 in 2.18s (batch: 2.09s, save: 0.09s) +[05/26 22:11:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1276 +[05/26 22:11:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1276: 0/1 successful episodes +[05/26 22:11:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1350 (index 11/115) +[05/26 22:11:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1350 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/26 22:11:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +Goal: place metallic chopping axe next to children's purple book with horse puppet +[2026-05-26 22:12:57,542] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:13:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 22:25:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 1350 episode 0 object objahandaxe_5b6cd83c95344bcea335fc2452624abe_1_0_6 completed with success=False +[05/26 22:25:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1350: 1 episodes +[05/26 22:25:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:25:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:25:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1350 +[05/26 22:25:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1350 in 2.24s (batch: 2.15s, save: 0.09s) +[05/26 22:25:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1350 +[05/26 22:25:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1350: 0/1 successful episodes +[05/26 22:25:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1416 (index 12/115) +[05/26 22:25:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1416 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/26 22:25:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/26 [00:00 does not support tracking retries. +[05/26 22:25:17 Worker 0 WARNING object_manager.py:1238] Could not find object pillow_c223d0fc3107c8eb43a3c5876f16cbfc_1_0_4 in scene +[05/26 22:25:17 Worker 0 WARNING object_manager.py:1238] Could not find object laptop_db169b2db696f5f3309c1b601969bfb0_1_0_4 in scene +Goal: place blue rectangular gum package with branding next to gold vase +[2026-05-26 22:26:20,852] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:38:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 1416 episode 0 object objachewinggumpackage_ccce466fa203480c91ffba46d02d6509_1_0_6 completed with success=False +[05/26 22:38:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1416: 1 episodes +[05/26 22:38:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:38:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:38:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1416 +[05/26 22:38:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1416 in 2.87s (batch: 2.78s, save: 0.09s) +[05/26 22:38:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1416 +[05/26 22:38:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1416: 0/1 successful episodes +[05/26 22:38:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1555 (index 13/115) +[05/26 22:38:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1555 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/26 22:38:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +[05/26 22:39:17 Worker 0 WARNING object_manager.py:1238] Could not find object objadentures_4fc005a4bb9f4ed49ad3b5255e87e720_1_0_5 in scene +[05/26 22:39:17 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene +Goal: place black hat plume next to gray bowl +[2026-05-26 22:40:18,919] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:40:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 22:54:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 1555 episode 0 object objamarchingbandhat_04ca4cc9ff7c4546a438d55c727fc557_1_0_4 completed with success=False +[05/26 22:54:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1555: 1 episodes +[05/26 22:54:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:54:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:54:25 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1555 +[05/26 22:54:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1555 in 2.93s (batch: 2.84s, save: 0.09s) +[05/26 22:54:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1555 +[05/26 22:54:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1555: 0/1 successful episodes +[05/26 22:54:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1678 (index 14/115) +[05/26 22:54:26 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1678 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/26 22:54:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/56 [00:00 does not support tracking retries. +[05/26 22:54:33 Worker 0 WARNING object_manager.py:1238] Could not find object objasurgicalmask_14c823dca9034aa5bcf6628c4995f63a_1_0_5 in scene +[05/26 22:54:33 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_c60254aae031ecd4e316a5add61459a4_1_0_5 in scene +Goal: place medallion with crown and shields next to dark gray bowl +[2026-05-26 22:55:36,580] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:14:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 1678 episode 0 object objamedallion_74573e9beb164375942775cc38047ba7_1_0_4 completed with success=False +[05/26 23:14:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1678: 1 episodes +[05/26 23:14:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:14:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:14:29 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1678 +[05/26 23:14:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1678 in 3.02s (batch: 2.93s, save: 0.09s) +[05/26 23:14:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1678 +[05/26 23:14:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1678: 0/1 successful episodes +[05/26 23:14:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1744 (index 15/115) +[05/26 23:14:29 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1744 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/26 23:14:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +Goal: place blue patterned bowl next to metal cup +[2026-05-26 23:16:01,827] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:16:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 23:28:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 1744 episode 0 object objapouringbowl_bad55ce1183a4965896446aa526c7ac2_1_0_2 completed with success=False +[05/26 23:29:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1744: 1 episodes +[05/26 23:29:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:29:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:29:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1744 +[05/26 23:29:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1744 in 2.90s (batch: 2.81s, save: 0.09s) +[05/26 23:29:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1744 +[05/26 23:29:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1744: 0/1 successful episodes +[05/26 23:29:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1816 (index 16/115) +[05/26 23:29:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1816 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/26 23:29:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/53 [00:00 does not support tracking retries. +[05/26 23:30:22 Worker 0 WARNING object_manager.py:1238] Could not find object objadigitalitem_c0a4a104714043eab85a69ea03f18472_1_0_7 in scene +Goal: place blue and white modern electric iron next to rustic golden brown bread +[2026-05-26 23:31:24,833] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:33:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 1816 episode 0 object objasteamiron_7dc6eeb22d424534b45783fbe997b302_1_0_2 completed with success=False +[05/26 23:33:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1816: 1 episodes +[05/26 23:33:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:33:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:33:54 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1816 +[05/26 23:33:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1816 in 2.86s (batch: 2.77s, save: 0.09s) +[05/26 23:33:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1816 +[05/26 23:33:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1816: 0/1 successful episodes +[05/26 23:33:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1928 (index 17/115) +[05/26 23:33:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1928 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/26 23:33:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +Goal: place small pale leaf-shaped textured arrowhead next to blue spaceship +[2026-05-26 23:36:22,198] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:36:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 23:50:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 1928 episode 0 object objaarrowhead_adf24b01def54cb2ba548ada8cc8aa8a_1_0_2 completed with success=False +[05/26 23:50:04 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1928: 1 episodes +[05/26 23:50:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:50:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:50:06 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1928 +[05/26 23:50:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1928 in 2.33s (batch: 2.24s, save: 0.09s) +[05/26 23:50:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1928 +[05/26 23:50:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1928: 0/1 successful episodes +[05/26 23:50:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2030 (index 18/115) +[05/26 23:50:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2030 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/26 23:50:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/34 [00:00 does not support tracking retries. +[05/26 23:50:49 Worker 0 WARNING object_manager.py:1238] Could not find object objabrochure_9955a3def32b4f7e8c6efd289df59eb2_1_0_2 in scene +[05/26 23:50:49 Worker 0 WARNING object_manager.py:1238] Could not find object cup_dd0ab95e28fdee3cb4033adcfec9a81b_1_0_2 in scene +Goal: place blue dna helix next to silver bullet with red band tip +[2026-05-26 23:51:52,571] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:52:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:02:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 2030 episode 0 object objadecorativemodel_2d5d4f4c030240e5b938792d52cffa0e_1_0_2 completed with success=False +[05/27 00:02:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2030: 1 episodes +[05/27 00:02:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:02:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:02:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2030 +[05/27 00:02:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2030 in 2.22s (batch: 2.13s, save: 0.09s) +[05/27 00:02:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2030 +[05/27 00:02:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2030: 0/1 successful episodes +[05/27 00:02:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2098 (index 19/115) +[05/27 00:02:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2098 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 00:02:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +[05/27 00:02:42 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativewallart_41ab3efe80974302bff69de2400e67bc_1_0_8 in scene +Goal: place red vintage rotary dial payphone next to slim blue cell phone with pattern +[2026-05-27 00:03:44,231] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:04:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:16:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 2098 episode 0 object objapayphone_a759edc5f9af4ee0a08391d2c5049c0b_1_0_4 completed with success=False +[05/27 00:16:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2098: 1 episodes +[05/27 00:16:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:17:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:17:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2098 +[05/27 00:17:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2098 in 2.83s (batch: 2.74s, save: 0.09s) +[05/27 00:17:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2098 +[05/27 00:17:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2098: 0/1 successful episodes +[05/27 00:17:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2207 (index 20/115) +[05/27 00:17:03 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2207 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 00:17:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[05/27 00:19:35 Worker 0 WARNING object_manager.py:1238] Could not find object objamagnifyingglass_1f86dd8841864e67a96614fec44f2222_1_0_5 in scene +Goal: place brown leather wallet with woven edges next to colorful red parrot with wings +[2026-05-27 00:20:37,673] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:21:20 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:31:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 2207 episode 0 object objawallet_45e061790f364b1da9ff876382adca02_1_0_4 completed with success=False +[05/27 00:32:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2207: 1 episodes +[05/27 00:32:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:32:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:32:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2207 +[05/27 00:32:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2207 in 2.95s (batch: 2.86s, save: 0.09s) +[05/27 00:32:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2207 +[05/27 00:32:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2207: 0/1 successful episodes +[05/27 00:32:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2338 (index 21/115) +[05/27 00:32:04 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2338 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 00:32:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/62 [00:00 does not support tracking retries. +Goal: place green emergency exit sign next to slim rectangular phone +[2026-05-27 00:33:34,071] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:50:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 2338 episode 0 object objaemergencyexitsign_0346252dca2640d799b6d5ba5055851c_1_0_2 completed with success=False +[05/27 00:51:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2338: 1 episodes +[05/27 00:51:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:51:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:51:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2338 +[05/27 00:51:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2338 in 2.85s (batch: 2.76s, save: 0.10s) +[05/27 00:51:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2338 +[05/27 00:51:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2338: 0/1 successful episodes +[05/27 00:51:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2442 (index 22/115) +[05/27 00:51:04 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2442 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 00:51:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +Goal: place polished round bronze knocker next to rectangular pillow with earthy stripes +[2026-05-27 00:52:11,846] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:06:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 2442 episode 0 object objadoorknocker_6327f620b1044a16b21216caaf6b107a_1_0_6 completed with success=False +[05/27 01:06:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2442: 1 episodes +[05/27 01:06:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:06:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:06:43 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2442 +[05/27 01:06:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2442 in 2.87s (batch: 2.77s, save: 0.09s) +[05/27 01:06:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2442 +[05/27 01:06:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2442: 0/1 successful episodes +[05/27 01:06:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2491 (index 23/115) +[05/27 01:06:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2491 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 01:06:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +Goal: place blue puzzle piece with rainbow next to transparent tall slender wine glass +[2026-05-27 01:08:19,680] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:08:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 01:28:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 2491 episode 0 object objapuzzlepiece_8882000196234ce7aefd64b149f3064e_1_0_2 completed with success=False +[05/27 01:28:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2491: 1 episodes +[05/27 01:28:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:28:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:28:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2491 +[05/27 01:28:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2491 in 2.94s (batch: 2.85s, save: 0.09s) +[05/27 01:28:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2491 +[05/27 01:28:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2491: 0/1 successful episodes +[05/27 01:28:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2607 (index 24/115) +[05/27 01:28:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2607 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 01:28:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/14 [00:00 does not support tracking retries. +[05/27 01:28:35 Worker 0 WARNING object_manager.py:1238] Could not find object objamodelhouseroof_309fa6d6eba647d59e71f8b610d62241_1_0_3 in scene +[05/27 01:28:35 Worker 0 WARNING object_manager.py:1238] Could not find object plate_f61129d9e389712b24d18993ffe91ff5_1_0_3 in scene +Goal: place colorful garden gnome with beard next to red faceted gemstone +[2026-05-27 01:29:38,480] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:30:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 01:36:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 2607 episode 0 object objagardengnome_51597381f06e4a2ca353b478e5ca9fcb_1_0_2 completed with success=False +[05/27 01:36:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2607: 1 episodes +[05/27 01:36:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:36:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:36:15 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2607 +[05/27 01:36:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2607 in 2.91s (batch: 2.82s, save: 0.09s) +[05/27 01:36:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2607 +[05/27 01:36:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2607: 0/1 successful episodes +[05/27 01:36:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2735 (index 25/115) +[05/27 01:36:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2735 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 01:36:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/63 [00:00 does not support tracking retries. +[05/27 01:36:24 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaper_903ed803932340b19104cf5232c5dcc4_1_0_9 in scene +[05/27 01:36:24 Worker 0 WARNING object_manager.py:1238] Could not find object objatooth_00fa4f74e10b4769830bf60469c65e27_1_0_9 in scene +Goal: place black grenade with graffiti next to round medal with ribbon +[2026-05-27 01:37:27,608] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:56:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 2735 episode 0 object objagrenade_2bf43075c62749e28e1a8c2f0d766c67_1_0_2 completed with success=False +[05/27 01:56:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2735: 1 episodes +[05/27 01:56:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:56:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:56:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2735 +[05/27 01:56:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2735 in 2.87s (batch: 2.78s, save: 0.09s) +[05/27 01:56:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2735 +[05/27 01:56:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2735: 0/1 successful episodes +[05/27 01:56:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2842 (index 26/115) +[05/27 01:56:35 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2842 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 01:56:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +Goal: place yellow geiger counter with antennas next to flat brown h-shaped rectangular piece +[2026-05-27 01:58:11,620] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:12:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 2842 episode 0 object objageigercounter_fdbe3ec34d3940989088368c1d29eebb_1_0_6 completed with success=False +[05/27 02:12:04 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2842: 1 episodes +[05/27 02:12:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:12:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:12:07 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2842 +[05/27 02:12:07 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2842 in 2.90s (batch: 2.81s, save: 0.09s) +[05/27 02:12:08 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2842 +[05/27 02:12:08 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2842: 0/1 successful episodes +[05/27 02:12:08 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2914 (index 27/115) +[05/27 02:12:08 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2914 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 02:12:08 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/24 [00:00 does not support tracking retries. +Goal: place bronze statue of nude female next to bulbous shiny gold metallic vase +[2026-05-27 02:13:14,949] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:13:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 02:24:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 2914 episode 0 object statue_cf03a53cab61be46a9663efe8cfd6045_1_0_4 completed with success=False +[05/27 02:24:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2914: 1 episodes +[05/27 02:24:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:24:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:24:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2914 +[05/27 02:24:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2914 in 2.20s (batch: 2.11s, save: 0.09s) +[05/27 02:24:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2914 +[05/27 02:24:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2914: 0/1 successful episodes +[05/27 02:24:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3041 (index 28/115) +[05/27 02:24:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3041 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 02:24:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/44 [00:00 does not support tracking retries. +Goal: place dark portable gas torch with label next to green plant with leaves +[2026-05-27 02:25:34,400] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:28:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 3041 episode 0 object objagastorch_9d24aac8a4c444a1b440647aa6f96438_1_0_6 completed with success=True +[05/27 02:28:46 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3041: 1 episodes +[05/27 02:28:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 105 timesteps +[05/27 02:28:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:28:48 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3041 +[05/27 02:28:48 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3041 in 2.60s (batch: 2.56s, save: 0.04s) +[05/27 02:28:49 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3041 +[05/27 02:28:49 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3041: 1/1 successful episodes +[05/27 02:28:49 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3142 (index 29/115) +[05/27 02:28:49 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3142 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 02:28:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +[05/27 02:29:10 Worker 0 WARNING object_manager.py:1238] Could not find object objanoveltytoy_a223cbac2a604c1a8a26331b783a9647_1_0_6 in scene +Goal: place orange blowtorch next to purple crystal formation on base +[2026-05-27 02:30:15,485] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:47:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 3142 episode 0 object objablowtorch_0d68b80a863f452190dc2119ec0648a9_1_0_4 completed with success=False +[05/27 02:48:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3142: 1 episodes +[05/27 02:48:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:48:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:48:03 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3142 +[05/27 02:48:03 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3142 in 2.28s (batch: 2.19s, save: 0.09s) +[05/27 02:48:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3142 +[05/27 02:48:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3142: 0/1 successful episodes +[05/27 02:48:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3233 (index 30/115) +[05/27 02:48:04 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3233 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 02:48:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +Goal: place red candy cane shaped hook next to white stone +[2026-05-27 02:49:18,003] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:49:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 03:07:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 3233 episode 0 object objadecorativehook_b879e5c52f244d00a29b91837c5f54c5_1_0_6 completed with success=False +[05/27 03:07:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3233: 1 episodes +[05/27 03:07:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:07:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:07:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3233 +[05/27 03:07:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3233 in 2.26s (batch: 2.17s, save: 0.09s) +[05/27 03:07:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3233 +[05/27 03:07:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3233: 0/1 successful episodes +[05/27 03:07:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3282 (index 31/115) +[05/27 03:07:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3282 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 03:07:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[05/27 03:07:49 Worker 0 WARNING object_manager.py:1238] Could not find object objaclimbingshoe_6612b1e3ee2b4e08952f6bf2b26bd75a_2_0_3 in scene +[05/27 03:07:49 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_2_0_3 in scene +Goal: place bowl next to slim blue cell phone with pattern +[2026-05-27 03:08:50,983] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:23:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 3282 episode 0 object bowl_2f9f64388a995199e35022d1cbe33117_1_0_6 completed with success=False +[05/27 03:23:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3282: 1 episodes +[05/27 03:23:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:23:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:23:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3282 +[05/27 03:23:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3282 in 2.82s (batch: 2.73s, save: 0.09s) +[05/27 03:23:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3282 +[05/27 03:23:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3282: 0/1 successful episodes +[05/27 03:23:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3364 (index 32/115) +[05/27 03:23:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3364 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 03:23:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/56 [00:00 does not support tracking retries. +[05/27 03:23:28 Worker 0 WARNING object_manager.py:1238] Could not find object objatapedispenser_a4dda5be59374f9eabc8185a43e88611_1_0_5 in scene +Goal: place dark handle magnifying glass next to yellow handheld device with antenna +[2026-05-27 03:24:30,450] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:41:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 3364 episode 0 object objamagnifyingglass_46e565bd25934ef4a25f98c7b237fcb6_1_0_6 completed with success=False +[05/27 03:41:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3364: 1 episodes +[05/27 03:41:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:41:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:41:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3364 +[05/27 03:41:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3364 in 2.20s (batch: 2.12s, save: 0.09s) +[05/27 03:41:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3364 +[05/27 03:41:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3364: 0/1 successful episodes +[05/27 03:41:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3412 (index 33/115) +[05/27 03:41:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3412 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 03:41:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 does not support tracking retries. +[05/27 03:41:56 Worker 0 WARNING object_manager.py:1238] Could not find object objarunningshoe_78592db7cad94648b66edb363c5add2c_1_0_5 in scene +[05/27 03:41:56 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeemblem_72eedb60542841c0a11d429d19854814_1_0_5 in scene +[05/27 03:41:56 Worker 0 WARNING object_manager.py:1238] Could not find object objalighter_90536f2654814b4bb73d97a0020408b4_1_0_5 in scene +[05/27 03:41:56 Worker 0 WARNING object_manager.py:1238] Could not find object objalighter_26517aa3be4441e290b40e57173cae71_1_0_5 in scene +[05/27 03:41:56 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +Goal: place shiny gold candy wrapper with twists next to round wooden bowl +[2026-05-27 03:42:59,803] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:43:32 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 03:57:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 3412 episode 0 object objacandywrapper_f63a19caad054232bada31bf9dda010b_1_0_8 completed with success=False +[05/27 03:57:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3412: 1 episodes +[05/27 03:57:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:57:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:57:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3412 +[05/27 03:57:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3412 in 2.81s (batch: 2.72s, save: 0.09s) +[05/27 03:57:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3412 +[05/27 03:57:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3412: 0/1 successful episodes +[05/27 03:57:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3502 (index 34/115) +[05/27 03:57:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3502 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 03:57:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +[05/27 03:57:19 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeribbon_3be787e16e6a4f5fb8f4830d0b2cb03b_2_0_3 in scene +[05/27 03:57:19 Worker 0 WARNING object_manager.py:1238] Could not find object objadentures_46145e0221e94a3185b215c07d0f4340_1_0_3 in scene +Goal: place pastel scepter next to rustic stone mallet +[2026-05-27 03:58:21,627] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:58:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:10:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 3502 episode 0 object objadecorativescepter_325bf6c9f06a4438b0cd408c3ba59c95_1_0_4 completed with success=False +[05/27 04:10:46 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3502: 1 episodes +[05/27 04:10:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:10:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:10:49 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3502 +[05/27 04:10:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3502 in 2.92s (batch: 2.83s, save: 0.09s) +[05/27 04:10:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3502 +[05/27 04:10:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3502: 0/1 successful episodes +[05/27 04:10:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3585 (index 35/115) +[05/27 04:10:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3585 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 04:10:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/18 [00:00 does not support tracking retries. +Goal: place yellow teardrop weight with hanging loop next to translucent ergonomic spray bottle +[2026-05-27 04:12:04,555] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:19:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 3585 episode 0 object objaweight_675cbe00e63b432f8c83c3c5f7e01763_1_0_2 completed with success=False +[05/27 04:19:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3585: 1 episodes +[05/27 04:19:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:19:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:19:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3585 +[05/27 04:19:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3585 in 2.88s (batch: 2.79s, save: 0.09s) +[05/27 04:19:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3585 +[05/27 04:19:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3585: 0/1 successful episodes +[05/27 04:19:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3688 (index 36/115) +[05/27 04:19:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3688 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 04:19:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +Goal: place instrumentation next to soap dispenser +[2026-05-27 04:20:21,943] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:20:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:28:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 3688 episode 0 object objadispenser_dae48a392c5a4f3aa00235e664ee7d4d_1_0_2 completed with success=False +[05/27 04:28:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3688: 1 episodes +[05/27 04:28:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:28:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:28:15 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3688 +[05/27 04:28:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3688 in 2.19s (batch: 2.10s, save: 0.09s) +[05/27 04:28:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3688 +[05/27 04:28:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3688: 0/1 successful episodes +[05/27 04:28:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3755 (index 37/115) +[05/27 04:28:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3755 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 04:28:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +Goal: place long green dragon figure with horns next to medium shiny round bowl +[2026-05-27 04:29:23,445] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:45:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 3755 episode 0 object objadecorativedragonfigure_d3f1a89770ff44ce8ff2655ab4c458a7_1_0_8 completed with success=False +[05/27 04:45:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3755: 1 episodes +[05/27 04:45:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:45:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:45:39 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3755 +[05/27 04:45:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3755 in 2.23s (batch: 2.14s, save: 0.09s) +[05/27 04:45:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3755 +[05/27 04:45:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3755: 0/1 successful episodes +[05/27 04:45:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3884 (index 38/115) +[05/27 04:45:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3884 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 04:45:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[05/27 04:45:47 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturetower_0780a7e5369442c3967681084a046588_1_0_5 in scene +[05/27 04:45:47 Worker 0 WARNING object_manager.py:1238] Could not find object objastopwatch_39d799f20f4041228704749c854b60af_1_0_5 in scene +[05/27 04:45:47 Worker 0 WARNING object_manager.py:1238] Could not find object objaelectricalsocket_097b7c598d9a41188d96f57713357b9b_1_0_8 in scene +[05/27 04:45:47 Worker 0 WARNING object_manager.py:1238] Could not find object objamarkerpen_68d9f095a5164004a8e16858f1359be5_1_0_9 in scene +[05/27 04:45:47 Worker 0 WARNING object_manager.py:1238] Could not find object objatoyfish_7a75c224806a4d04a7a9ebba517ad100_1_0_9 in scene +Goal: place small glossy turquoise eye of horus amulet next to orange fire truck with ladder +[2026-05-27 04:46:50,698] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:47:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:59:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 3884 episode 0 object objaamulet_7300d219ed944585ace4b2509bef4f6e_1_0_4 completed with success=False +[05/27 04:59:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3884: 1 episodes +[05/27 04:59:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:59:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:59:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3884 +[05/27 04:59:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3884 in 2.91s (batch: 2.82s, save: 0.09s) +[05/27 04:59:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3884 +[05/27 04:59:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3884: 0/1 successful episodes +[05/27 04:59:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3925 (index 39/115) +[05/27 04:59:36 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 3925 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 04:59:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/27 04:59:42 Worker 0 WARNING object_manager.py:1238] Could not find object vase_d568e4c5c2948c69c05d527517276b06_1_0_8 in scene +[05/27 04:59:42 Worker 0 WARNING object_manager.py:1238] Could not find object objatoyhouse_7bf471236e644443be26715ddcfba914_1_0_9 in scene +[05/27 04:59:42 Worker 0 WARNING object_manager.py:1238] Could not find object objaheadband_a45e0fe1df584ab4b49c35ef88bd90b0_1_0_9 in scene +[05/27 04:59:42 Worker 0 WARNING object_manager.py:1238] Could not find object objasandal_55ac6b700c674f0ba07768f14c80d9d2_1_0_9 in scene +Goal: place vintage cast iron clothes iron with handle next to green apple with stem +[2026-05-27 05:00:45,591] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:16:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 3925 episode 0 object objaclothesiron_33751730969346df8aa289d31228f3fb_1_0_2 completed with success=False +[05/27 05:16:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/27 05:16:45 Worker 0 WARNING object_manager.py:1238] Could not find object vase_d568e4c5c2948c69c05d527517276b06_1_0_8 in scene +[05/27 05:16:45 Worker 0 WARNING object_manager.py:1238] Could not find object objatoyhouse_7bf471236e644443be26715ddcfba914_1_0_9 in scene +[05/27 05:16:45 Worker 0 WARNING object_manager.py:1238] Could not find object objaheadband_a45e0fe1df584ab4b49c35ef88bd90b0_1_0_9 in scene +[05/27 05:16:45 Worker 0 WARNING object_manager.py:1238] Could not find object objasandal_55ac6b700c674f0ba07768f14c80d9d2_1_0_9 in scene +Goal: place rusty vintage kerosene lantern with handle next to teal van with flowers +[2026-05-27 05:17:47,624] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:18:23 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 05:33:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 3925 episode 1 object objalantern_a1de8398597a4575a9c9a9f0a6e4dd2b_1_0_3 completed with success=False +[05/27 05:33:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3925: 2 episodes +[05/27 05:33:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:33:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:34:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:34:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:34:01 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3925 +[05/27 05:34:01 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3925 in 5.69s (batch: 5.51s, save: 0.17s) +[05/27 05:34:01 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3925 +[05/27 05:34:01 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3925: 0/2 successful episodes +[05/27 05:34:01 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4018 (index 40/115) +[05/27 05:34:01 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4018 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 05:34:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/56 [00:00 does not support tracking retries. +[05/27 05:34:07 Worker 0 WARNING object_manager.py:1238] Could not find object objapapertowelroll_d62583f82dfe46f0a8a8255d35a6de62_1_0_5 in scene +[05/27 05:34:07 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene +Goal: place long rusty metal rail with notches next to laptop computer +[2026-05-27 05:35:10,217] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:35:47 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 05:53:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 4018 episode 0 object objametalrail_9643f982b1f84927af2ecd167a1ce232_1_0_3 completed with success=False +[05/27 05:53:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4018: 1 episodes +[05/27 05:53:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:53:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:53:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4018 +[05/27 05:53:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4018 in 2.92s (batch: 2.82s, save: 0.09s) +[05/27 05:53:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4018 +[05/27 05:53:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4018: 0/1 successful episodes +[05/27 05:53:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4108 (index 41/115) +[05/27 05:53:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4108 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 05:53:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +Goal: place tall metal lock next to simple light brown ceramic bowl +[2026-05-27 05:54:21,135] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:54:54 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 06:10:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 4108 episode 0 object objasecuritydevice_dd640cbe9b2444ecb928d3b5b0e67956_1_0_8 completed with success=False +[05/27 06:10:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4108: 1 episodes +[05/27 06:10:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:10:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:10:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4108 +[05/27 06:10:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4108 in 2.31s (batch: 2.19s, save: 0.12s) +[05/27 06:10:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4108 +[05/27 06:10:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4108: 0/1 successful episodes +[05/27 06:10:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4192 (index 42/115) +[05/27 06:10:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4192 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 06:10:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/17 [00:00 does not support tracking retries. +Goal: place dark wand with red crystal next to glass +[2026-05-27 06:11:38,770] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:12:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 06:19:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 4192 episode 0 object objawand_2ae875cdb30240feb83d769b134115b2_1_0_2 completed with success=False +[05/27 06:19:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4192: 1 episodes +[05/27 06:19:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:19:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:19:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4192 +[05/27 06:19:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4192 in 2.92s (batch: 2.83s, save: 0.09s) +[05/27 06:19:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4192 +[05/27 06:19:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4192: 0/1 successful episodes +[05/27 06:19:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4263 (index 43/115) +[05/27 06:19:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4263 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 06:19:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/60 [00:00 does not support tracking retries. +[05/27 06:19:33 Worker 0 WARNING object_manager.py:1238] Could not find object objaemblem_f948740713184d839e714a860cf8e997_1_0_5 in scene +[05/27 06:19:33 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene +Goal: place vintage portable radio next to bust of woman statue +[2026-05-27 06:20:36,178] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:41:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 4263 episode 0 object objaportableradio_3c64c2aedd5e4eb589011d146db6a282_1_0_7 completed with success=False +[05/27 06:41:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4263: 1 episodes +[05/27 06:41:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:41:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:41:48 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4263 +[05/27 06:41:48 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4263 in 2.92s (batch: 2.80s, save: 0.12s) +[05/27 06:41:49 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4263 +[05/27 06:41:49 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4263: 0/1 successful episodes +[05/27 06:41:49 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4303 (index 44/115) +[05/27 06:41:49 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4303 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 06:41:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/27 06:41:54 Worker 0 WARNING object_manager.py:1238] Could not find object egg_aeca24b46189bee76c22ec0349729d60_1_0_8 in scene +Goal: place green pliers next to blue vase +[2026-05-27 06:43:02,788] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:56:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 4303 episode 0 object objaneedlenosepliers_0079418517784f2bbf0aec6fd8de3cde_1_0_8 completed with success=False +[05/27 06:56:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4303: 1 episodes +[05/27 06:56:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:56:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:56:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4303 +[05/27 06:56:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4303 in 2.82s (batch: 2.73s, save: 0.09s) +[05/27 06:56:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4303 +[05/27 06:56:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4303: 0/1 successful episodes +[05/27 06:56:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4348 (index 45/115) +[05/27 06:56:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4348 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 06:56:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/7 [00:00 does not support tracking retries. +Goal: place ciabatta olive bread package next to glossy dark hand +[2026-05-27 06:57:26,707] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:58:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 07:03:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 4348 episode 0 object objapackagedfood_d9e056fc90d44ed080ac692526cb39d5_1_0_2 completed with success=False +[05/27 07:03:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4348: 1 episodes +[05/27 07:03:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:03:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:03:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4348 +[05/27 07:03:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4348 in 2.95s (batch: 2.85s, save: 0.09s) +[05/27 07:03:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4348 +[05/27 07:03:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4348: 0/1 successful episodes +[05/27 07:03:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4444 (index 46/115) +[05/27 07:03:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4444 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 07:03:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/58 [00:00 does not support tracking retries. +[05/27 07:03:45 Worker 0 WARNING object_manager.py:1238] Could not find object objadentures_46145e0221e94a3185b215c07d0f4340_1_0_5 in scene +[05/27 07:03:45 Worker 0 WARNING object_manager.py:1238] Could not find object objawoodentablet_090408c682e348a0ab00d904ae850628_1_0_5 in scene +Goal: place yellow cup next to white triangular wedge with texture +[2026-05-27 07:04:48,157] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:05:25 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 07:20:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 4444 episode 0 object objacup_1595f63fbeb3421aa8a261c3815e3512_1_0_2 completed with success=False +[05/27 07:20:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4444: 1 episodes +[05/27 07:20:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:20:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:20:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4444 +[05/27 07:20:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4444 in 2.24s (batch: 2.15s, save: 0.09s) +[05/27 07:20:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4444 +[05/27 07:20:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4444: 0/1 successful episodes +[05/27 07:20:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4541 (index 47/115) +[05/27 07:20:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4541 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 07:20:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +[05/27 07:20:59 Worker 0 WARNING object_manager.py:1238] Could not find object objalantern_0ec01afc7122493d8e8aecef2951df9c_1_0_5 in scene +[05/27 07:20:59 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativesymbol_096e1889564d4e9c8836c7805c1ecebf_1_0_5 in scene +Goal: place brown fabric spool next to hardcover book with wood-textured spine +[2026-05-27 07:22:03,412] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:38:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 4541 episode 0 object objafabricroll_3bde9cdce2e5457dac80f941d5ad9397_1_0_7 completed with success=False +[05/27 07:38:46 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4541: 1 episodes +[05/27 07:38:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:38:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:38:48 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4541 +[05/27 07:38:48 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4541 in 2.22s (batch: 2.13s, save: 0.09s) +[05/27 07:38:49 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4541 +[05/27 07:38:49 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4541: 0/1 successful episodes +[05/27 07:38:49 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4649 (index 48/115) +[05/27 07:38:49 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4649 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 07:38:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +[05/27 07:39:04 Worker 0 WARNING object_manager.py:1238] Could not find object objahikingshoe_41c91f680a55496ca83144519402c2f6_1_0_7 in scene +Goal: place soft taco next to bulbous shiny gold metallic vase +[2026-05-27 07:40:06,102] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:51:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 4649 episode 0 object objataco_5b8095131eca4914b6dce4e96b290a3f_1_0_8 completed with success=False +[05/27 07:51:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4649: 1 episodes +[05/27 07:51:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:51:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:51:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4649 +[05/27 07:51:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4649 in 2.85s (batch: 2.75s, save: 0.09s) +[05/27 07:51:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4649 +[05/27 07:51:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4649: 0/1 successful episodes +[05/27 07:51:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4690 (index 49/115) +[05/27 07:51:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4690 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 07:51:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +Goal: place red swiss army knife with tools next to metal valve +[2026-05-27 07:53:01,149] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:03:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 4690 episode 0 object objaswissarmyknife_abf4a9f4cc2040a1a886516c385cf8c3_1_0_6 completed with success=False +[05/27 08:03:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4690: 1 episodes +[05/27 08:03:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:03:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:03:25 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4690 +[05/27 08:03:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4690 in 2.23s (batch: 2.14s, save: 0.10s) +[05/27 08:03:25 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4690 +[05/27 08:03:25 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4690: 0/1 successful episodes +[05/27 08:03:25 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4764 (index 50/115) +[05/27 08:03:25 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4764 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 08:03:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/6 [00:00 does not support tracking retries. +Goal: place beige cylindrical spray can with blue nozzle next to medium ripe red tomato with stem +[2026-05-27 08:04:29,176] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:09:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 4764 episode 0 object objaspraycan_2a8a6f27693840e8b3990a277c39434e_1_0_2 completed with success=False +[05/27 08:09:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4764: 1 episodes +[05/27 08:09:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:09:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:09:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4764 +[05/27 08:09:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4764 in 2.24s (batch: 2.15s, save: 0.09s) +[05/27 08:09:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4764 +[05/27 08:09:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4764: 0/1 successful episodes +[05/27 08:09:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4781 (index 51/115) +[05/27 08:09:56 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4781 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 08:09:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/39 [00:00 does not support tracking retries. +Goal: place shiny gold candy wrapper with twists next to spherical puzzle globe map +[2026-05-27 08:11:05,055] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:11:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 08:24:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 4781 episode 0 object objacandywrapper_f63a19caad054232bada31bf9dda010b_1_0_2 completed with success=False +[05/27 08:24:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/39 [00:00 does not support tracking retries. +Goal: place purple candy wrapper with lighthouse next to transparent soap bottle with dark pump +[2026-05-27 08:25:38,328] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:26:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 08:38:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 4781 episode 1 object objacandywrapper_4a0fdf73d0474d778fd65ba220f50a71_1_0_2 completed with success=False +[05/27 08:38:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4781: 2 episodes +[05/27 08:38:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:38:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:38:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:38:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:38:45 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4781 +[05/27 08:38:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4781 in 4.55s (batch: 4.37s, save: 0.18s) +[05/27 08:38:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4781 +[05/27 08:38:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4781: 0/2 successful episodes +[05/27 08:38:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4858 (index 52/115) +[05/27 08:38:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4858 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 08:38:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/13 [00:00 does not support tracking retries. +Goal: place sleek black vr headset with star next to tall cream candle in dark holder +[2026-05-27 08:39:53,360] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:40:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 08:47:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 4858 episode 0 object objavirtualrealityheadset_deb9d583faf24786b06f2bf3f898abba_1_0_3 completed with success=False +[05/27 08:47:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4858: 1 episodes +[05/27 08:47:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:47:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:47:54 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4858 +[05/27 08:47:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4858 in 2.83s (batch: 2.74s, save: 0.09s) +[05/27 08:47:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4858 +[05/27 08:47:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4858: 0/1 successful episodes +[05/27 08:47:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4924 (index 53/115) +[05/27 08:47:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4924 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 08:47:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +[05/27 08:48:06 Worker 0 WARNING object_manager.py:1238] Could not find object objawinterhat_a6abcf9811ab4d598fd62ab566683cf2_1_0_4 in scene +[05/27 08:48:06 Worker 0 WARNING object_manager.py:1238] Could not find object objaexternalharddrive_65f3fd1fc6e440459aaade5c28028f53_1_0_5 in scene +[05/27 08:48:06 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeband_26be4c662c434a66b9e15d66eb4130d8_2_0_5 in scene +[05/27 08:48:06 Worker 0 WARNING object_manager.py:1238] Could not find object objacapsule_da430c2f63ab44b4ac3248ea83a4277e_1_0_8 in scene +[05/27 08:48:06 Worker 0 WARNING object_manager.py:1238] Could not find object tomato_cf857d03afb41a06e23216bfba1c643e_1_0_8 in scene +Goal: place gold drill bit next to blue globe with penguin on top +[2026-05-27 08:49:09,624] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:03:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 4924 episode 0 object objadrillbit_558c7a29208b474fb727d7482cc0be39_1_0_9 completed with success=False +[05/27 09:04:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4924: 1 episodes +[05/27 09:04:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:04:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:04:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4924 +[05/27 09:04:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4924 in 2.25s (batch: 2.16s, save: 0.09s) +[05/27 09:04:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4924 +[05/27 09:04:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4924: 0/1 successful episodes +[05/27 09:04:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5000 (index 54/115) +[05/27 09:04:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5000 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 09:04:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[05/27 09:04:37 Worker 0 WARNING object_manager.py:1238] Could not find object objabirdskull_e4d9884f3aab481381c7eda752c45e8d_1_0_5 in scene +[05/27 09:04:37 Worker 0 WARNING object_manager.py:1238] Could not find object objaanimalskull_181ba19843ae482bb2d60e23b4db283e_1_0_5 in scene +Goal: place bold yellow text sculpture saying party next to square olive green ceramic plate +[2026-05-27 09:05:39,195] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:06:12 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 09:16:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 5000 episode 0 object objadecorativetext_dea5d073a34b44a5a6824f0f5a127db7_1_0_6 completed with success=False +[05/27 09:17:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5000: 1 episodes +[05/27 09:17:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:17:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:17:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5000 +[05/27 09:17:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5000 in 2.82s (batch: 2.73s, save: 0.09s) +[05/27 09:17:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5000 +[05/27 09:17:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5000: 0/1 successful episodes +[05/27 09:17:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5108 (index 55/115) +[05/27 09:17:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5108 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 09:17:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/26 [00:00 does not support tracking retries. +[05/27 09:17:16 Worker 0 WARNING object_manager.py:1238] Could not find object objatoycamera_8eff73b71375445a8ba75949d58bd3e0_1_0_7 in scene +Goal: place vintage portable radio next to square white ceramic plate with ridges +[2026-05-27 09:18:18,912] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:18:54 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 09:27:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 5108 episode 0 object objaportableradio_3c64c2aedd5e4eb589011d146db6a282_1_0_6 completed with success=False +[05/27 09:27:46 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5108: 1 episodes +[05/27 09:27:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:27:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:27:49 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5108 +[05/27 09:27:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5108 in 2.28s (batch: 2.19s, save: 0.09s) +[05/27 09:27:49 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5108 +[05/27 09:27:49 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5108: 0/1 successful episodes +[05/27 09:27:49 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5185 (index 56/115) +[05/27 09:27:49 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5185 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 09:27:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +[05/27 09:27:55 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingpanel_a3d6f7df9ff94ed59f95d5086d5f3fdd_1_0_4 in scene +Goal: place camouflage suppressor next to rectangular yellow plaid pillow +[2026-05-27 09:28:58,510] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:44:02 Worker 0 INFO pipeline.py:1114] Worker 0 house 5185 episode 0 object objasuppressor_6dcc657967014bc7846c58ebc7657f01_1_0_3 completed with success=False +[05/27 09:44:06 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5185: 1 episodes +[05/27 09:44:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:44:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:44:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5185 +[05/27 09:44:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5185 in 2.91s (batch: 2.82s, save: 0.09s) +[05/27 09:44:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5185 +[05/27 09:44:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5185: 0/1 successful episodes +[05/27 09:44:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5278 (index 57/115) +[05/27 09:44:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5278 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 09:44:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +Goal: place green pcb with components next to lightweight brown cardboard box with flaps +[2026-05-27 09:45:21,862] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:45:54 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 09:55:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 5278 episode 0 object objaprintedcircuitboard_ce1bbb8d4d4f4be4832b662b27dca3bc_1_0_7 completed with success=False +[05/27 09:55:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5278: 1 episodes +[05/27 09:55:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:55:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:55:51 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5278 +[05/27 09:55:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5278 in 2.81s (batch: 2.72s, save: 0.09s) +[05/27 09:55:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5278 +[05/27 09:55:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5278: 0/1 successful episodes +[05/27 09:55:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5437 (index 58/115) +[05/27 09:55:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5437 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 09:55:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/58 [00:00 does not support tracking retries. +Goal: place fresh pineapple with spiky green leaves next to bulbous shiny gold vase +[2026-05-27 09:57:32,142] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:14:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 5437 episode 0 object objapineapple_3abb3e01b4734f44a312de3f7953bdd6_1_0_2 completed with success=False +[05/27 10:14:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5437: 1 episodes +[05/27 10:14:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:14:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:14:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5437 +[05/27 10:14:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5437 in 2.83s (batch: 2.74s, save: 0.09s) +[05/27 10:14:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5437 +[05/27 10:14:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5437: 0/1 successful episodes +[05/27 10:14:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5508 (index 59/115) +[05/27 10:14:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5508 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 10:14:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/27 10:14:31 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeband_26be4c662c434a66b9e15d66eb4130d8_1_0_5 in scene +[05/27 10:14:31 Worker 0 WARNING object_manager.py:1238] Could not find object objacleaningsponge_f173c4e92f854efe86fa939466e08e4b_1_0_5 in scene +Goal: place dark metal chisel next to teal dragon +[2026-05-27 10:15:34,980] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:33:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 5508 episode 0 object objachisel_d02e673a43fd4d5a8bdf76ff0bd60dbf_2_0_3 completed with success=False +[05/27 10:33:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5508: 1 episodes +[05/27 10:33:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:33:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:33:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5508 +[05/27 10:33:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5508 in 2.83s (batch: 2.74s, save: 0.09s) +[05/27 10:33:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5508 +[05/27 10:33:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5508: 0/1 successful episodes +[05/27 10:33:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5592 (index 60/115) +[05/27 10:33:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5592 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 10:33:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +[05/27 10:33:52 Worker 0 WARNING object_manager.py:1238] Could not find object objahandmodel_68256e3205da4eb9a4308b477d0ac5d0_1_0_8 in scene +[05/27 10:33:52 Worker 0 WARNING object_manager.py:1238] Could not find object cellulartelephone_1fa394556eb37156656d60fc604d4668_2_0_8 in scene +[05/27 10:33:52 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_9 in scene +Goal: place white bolt with green threaded shaft next to bronze female nude statue +[2026-05-27 10:34:54,913] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:35:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 10:45:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 5592 episode 0 object objabolt_2f8c479805f3427d9592185a16de8f9c_1_0_9 completed with success=False +[05/27 10:45:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5592: 1 episodes +[05/27 10:45:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:45:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:45:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5592 +[05/27 10:45:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5592 in 2.26s (batch: 2.17s, save: 0.09s) +[05/27 10:45:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5592 +[05/27 10:45:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5592: 0/1 successful episodes +[05/27 10:45:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5644 (index 61/115) +[05/27 10:45:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5644 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 10:45:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +Goal: place curved bone next to cartoon orange moth +[2026-05-27 10:47:06,555] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:01:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 5644 episode 0 object objadecorativeitem_270028bfd1404d2d9b97f54057838674_1_0_4 completed with success=False +[05/27 11:01:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5644: 1 episodes +[05/27 11:01:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:01:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:01:24 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5644 +[05/27 11:01:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5644 in 2.86s (batch: 2.76s, save: 0.09s) +[05/27 11:01:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5644 +[05/27 11:01:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5644: 0/1 successful episodes +[05/27 11:01:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5718 (index 62/115) +[05/27 11:01:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5718 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 11:01:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +Goal: place wooden paddle with accents next to ornate purple crown with gold +[2026-05-27 11:02:36,167] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:03:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 11:11:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 5718 episode 0 object objadecorativepaddle_21ebe537f4004cdeabb83243a1e76d55_1_0_2 completed with success=False +[05/27 11:11:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5718: 1 episodes +[05/27 11:11:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:11:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:11:26 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5718 +[05/27 11:11:26 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5718 in 2.88s (batch: 2.79s, save: 0.09s) +[05/27 11:11:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5718 +[05/27 11:11:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5718: 0/1 successful episodes +[05/27 11:11:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5863 (index 63/115) +[05/27 11:11:26 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5863 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 11:11:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +Goal: place white paint roller next to burgundy metallic rectangular toaster +[2026-05-27 11:12:39,873] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:23:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 5863 episode 0 object objapaintroller_9a4c9d19a1bc4bb5820e9fb5e98e9b29_1_0_6 completed with success=False +[05/27 11:23:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5863: 1 episodes +[05/27 11:23:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:23:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:23:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5863 +[05/27 11:23:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5863 in 2.87s (batch: 2.78s, save: 0.10s) +[05/27 11:23:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5863 +[05/27 11:23:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5863: 0/1 successful episodes +[05/27 11:23:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5908 (index 64/115) +[05/27 11:23:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5908 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 11:23:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +Goal: place yellow pen next to brown bowl +[2026-05-27 11:24:53,206] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:34:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 5908 episode 0 object objafountainpen_2877301eda684d2183ca24eaec21cee0_1_0_2 completed with success=False +[05/27 11:34:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5908: 1 episodes +[05/27 11:34:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:34:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:34:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5908 +[05/27 11:34:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5908 in 2.87s (batch: 2.77s, save: 0.09s) +[05/27 11:34:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5908 +[05/27 11:34:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5908: 0/1 successful episodes +[05/27 11:34:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5985 (index 65/115) +[05/27 11:34:19 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5985 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 11:34:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/7 [00:00 does not support tracking retries. +Goal: place wooden hand next to brown rusty cylindrical vintage oilcan +[2026-05-27 11:35:25,842] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:41:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 5985 episode 0 object objaartistmannequinhand_a16d835bd7e44756b621f407ba11b8cc_2_0_2 completed with success=False +[05/27 11:41:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5985: 1 episodes +[05/27 11:41:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:41:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:41:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5985 +[05/27 11:41:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5985 in 2.82s (batch: 2.73s, save: 0.09s) +[05/27 11:41:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5985 +[05/27 11:41:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5985: 0/1 successful episodes +[05/27 11:41:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6093 (index 66/115) +[05/27 11:41:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6093 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 11:41:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +Goal: place vintage wooden corkscrew with lever next to sleek turquoise aircraft with engines +[2026-05-27 11:42:43,734] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:53:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 6093 episode 0 object objacorkscrew_dd933eddfb3d4750b7e448c06b4f5b9b_1_0_6 completed with success=False +[05/27 11:54:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6093: 1 episodes +[05/27 11:54:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:54:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:54:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6093 +[05/27 11:54:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6093 in 2.84s (batch: 2.75s, save: 0.09s) +[05/27 11:54:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6093 +[05/27 11:54:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6093: 0/1 successful episodes +[05/27 11:54:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6155 (index 67/115) +[05/27 11:54:04 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6155 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 11:54:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +Goal: place golden brown chocolate chip muffin next to cutting implement +[2026-05-27 11:55:21,059] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:55:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 12:04:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 6155 episode 0 object objamuffin_dc883f9b758347f0a83235c842120f6d_1_0_6 completed with success=False +[05/27 12:04:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6155: 1 episodes +[05/27 12:04:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:04:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:04:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6155 +[05/27 12:04:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6155 in 2.27s (batch: 2.18s, save: 0.09s) +[05/27 12:04:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6155 +[05/27 12:04:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6155: 0/1 successful episodes +[05/27 12:04:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6241 (index 68/115) +[05/27 12:04:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6241 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 12:04:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/58 [00:00 does not support tracking retries. +[05/27 12:04:27 Worker 0 WARNING object_manager.py:1238] Could not find object objabasketballshoe_279cb48afa8a4a91a765b371b2aa9107_1_0_5 in scene +[05/27 12:04:27 Worker 0 WARNING object_manager.py:1238] Could not find object objalighter_a2db21b57424449f9a2d1aa08e5b0c90_1_0_5 in scene +[05/27 12:04:27 Worker 0 WARNING object_manager.py:1238] Could not find object objaneonsign_3468b4f91d5046478a3875a1066e0df6_1_0_6 in scene +Goal: place old rusted circular metal ring next to animal tissue +[2026-05-27 12:05:29,880] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:06:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 12:24:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 6241 episode 0 object objametalring_f7a6369d6e9b4465a085d8e00690d956_1_0_7 completed with success=False +[05/27 12:24:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6241: 1 episodes +[05/27 12:24:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:24:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:24:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6241 +[05/27 12:24:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6241 in 2.25s (batch: 2.16s, save: 0.09s) +[05/27 12:24:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6241 +[05/27 12:24:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6241: 0/1 successful episodes +[05/27 12:24:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6289 (index 69/115) +[05/27 12:24:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6289 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 12:24:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +Goal: place metallic tapered cup next to small oval brown potato with texture +[2026-05-27 12:26:14,951] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:26:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 12:34:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 6289 episode 0 object cup_c2a1d01cc61341b5eb8c564a7fb9c769_1_0_2 completed with success=False +[05/27 12:34:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6289: 1 episodes +[05/27 12:34:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:34:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:34:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6289 +[05/27 12:34:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6289 in 2.85s (batch: 2.76s, save: 0.09s) +[05/27 12:34:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6289 +[05/27 12:34:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6289: 0/1 successful episodes +[05/27 12:34:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6350 (index 70/115) +[05/27 12:34:35 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6350 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 12:34:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +Goal: place metal sharpener next to shiny gold vase +[2026-05-27 12:35:48,354] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:49:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 6350 episode 0 object objapencilsharpener_90238a6e97484f7ca846101ed7f43eac_1_0_4 completed with success=False +[05/27 12:49:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6350: 1 episodes +[05/27 12:49:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:49:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:49:45 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6350 +[05/27 12:49:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6350 in 2.93s (batch: 2.83s, save: 0.09s) +[05/27 12:49:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6350 +[05/27 12:49:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6350: 0/1 successful episodes +[05/27 12:49:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6421 (index 71/115) +[05/27 12:49:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6421 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 12:49:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +Goal: place off-white stone carved relief next to bulbous shiny gold metallic vase +[2026-05-27 12:51:05,516] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:51:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 12:58:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 6421 episode 0 object objawallrelief_c342f42a8dac41b19cb6d017ab19906b_1_0_3 completed with success=False +[05/27 12:58:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6421: 1 episodes +[05/27 12:58:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:58:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:58:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6421 +[05/27 12:58:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6421 in 2.81s (batch: 2.72s, save: 0.09s) +[05/27 12:58:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6421 +[05/27 12:58:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6421: 0/1 successful episodes +[05/27 12:58:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6523 (index 72/115) +[05/27 12:58:57 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6523 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 12:58:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/27 12:59:15 Worker 0 WARNING object_manager.py:1238] Could not find object objahikingshoe_36cf424a356146249c8043410083858f_1_0_5 in scene +[05/27 12:59:15 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeband_26be4c662c434a66b9e15d66eb4130d8_2_0_5 in scene +Goal: place blue dna double helix model next to blue spray bottle +[2026-05-27 13:00:18,200] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:00:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:06:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 6523 episode 0 object objadecorativemodel_2d5d4f4c030240e5b938792d52cffa0e_1_0_8 completed with success=False +[05/27 13:06:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6523: 1 episodes +[05/27 13:06:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:06:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:06:39 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6523 +[05/27 13:06:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6523 in 2.30s (batch: 2.21s, save: 0.09s) +[05/27 13:06:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6523 +[05/27 13:06:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6523: 0/1 successful episodes +[05/27 13:06:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6624 (index 73/115) +[05/27 13:06:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6624 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 13:06:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +[05/27 13:06:42 Worker 0 WARNING object_manager.py:1238] Could not find object lettuce_b5d873e9282da3d6480dce5dc1588ed8_1_0_2 in scene +Goal: place kitchen knife with yellow handle next to blue toaster appliance +[2026-05-27 13:07:45,501] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:08:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:17:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 6624 episode 0 object knife_79fd11da07e86802ec5235db6beee9a8_1_0_2 completed with success=False +[05/27 13:17:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6624: 1 episodes +[05/27 13:17:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:17:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:17:12 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6624 +[05/27 13:17:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6624 in 2.25s (batch: 2.16s, save: 0.09s) +[05/27 13:17:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6624 +[05/27 13:17:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6624: 0/1 successful episodes +[05/27 13:17:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6739 (index 74/115) +[05/27 13:17:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6739 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 13:17:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +Goal: place round-bottom flask next to soapdispenser +[2026-05-27 13:18:24,705] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:18:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:32:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 6739 episode 0 object objaflask_c0b5678842064353972d518a67f1ff13_1_0_8 completed with success=False +[05/27 13:32:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6739: 1 episodes +[05/27 13:32:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:32:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:32:51 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6739 +[05/27 13:32:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6739 in 2.79s (batch: 2.70s, save: 0.09s) +[05/27 13:32:52 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6739 +[05/27 13:32:52 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6739: 0/1 successful episodes +[05/27 13:32:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6826 (index 75/115) +[05/27 13:32:52 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6826 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 13:32:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +[05/27 13:33:00 Worker 0 WARNING object_manager.py:1238] Could not find object objarunningshoe_23f04afb5ef44cadb4930ceb2e1a0dcd_1_0_5 in scene +[05/27 13:33:00 Worker 0 WARNING object_manager.py:1238] Could not find object objadentures_46145e0221e94a3185b215c07d0f4340_1_0_5 in scene +Goal: place carved wooden king holding orb next to white quilted pillow +[2026-05-27 13:34:05,017] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:34:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:44:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 6826 episode 0 object objawoodensculpture_fce3d47b8a6b4f8ea3e727af33f5d3af_1_0_7 completed with success=False +[05/27 13:44:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6826: 1 episodes +[05/27 13:44:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:44:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:44:15 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6826 +[05/27 13:44:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6826 in 2.21s (batch: 2.12s, save: 0.09s) +[05/27 13:44:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6826 +[05/27 13:44:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6826: 0/1 successful episodes +[05/27 13:44:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6933 (index 76/115) +[05/27 13:44:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6933 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 13:44:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +Goal: place brown and white chihuahua sculpture next to blue pixelated police figure smoking +[2026-05-27 13:45:51,317] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:04:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 6933 episode 0 object objaceramicsculpture_d7176802cbe74b7eb64043e360766e80_1_0_3 completed with success=False +[05/27 14:04:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6933: 1 episodes +[05/27 14:04:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:04:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:04:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6933 +[05/27 14:04:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6933 in 2.80s (batch: 2.71s, save: 0.09s) +[05/27 14:04:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6933 +[05/27 14:04:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6933: 0/1 successful episodes +[05/27 14:04:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6994 (index 77/115) +[05/27 14:04:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6994 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 14:04:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +Goal: place walkie-talkie next to white rectangular electrical component +[2026-05-27 14:05:36,628] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:06:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 14:15:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 6994 episode 0 object objatwowayradio_ed53cb1466564895b5a0b65067c04aeb_1_0_7 completed with success=False +[05/27 14:15:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6994: 1 episodes +[05/27 14:15:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:15:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:15:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6994 +[05/27 14:15:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6994 in 2.30s (batch: 2.20s, save: 0.09s) +[05/27 14:15:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6994 +[05/27 14:15:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6994: 0/1 successful episodes +[05/27 14:15:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7057 (index 78/115) +[05/27 14:15:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7057 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 14:15:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/25 [00:00 does not support tracking retries. +Goal: place dentures next to orange wavy terracotta tile +[2026-05-27 14:16:25,516] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:27:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 7057 episode 0 object objadentures_db38ff23dc534a8c8d27a1107904ef94_1_0_5 completed with success=False +[05/27 14:27:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7057: 1 episodes +[05/27 14:27:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:27:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:27:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7057 +[05/27 14:27:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7057 in 2.19s (batch: 2.10s, save: 0.09s) +[05/27 14:27:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7057 +[05/27 14:27:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7057: 0/1 successful episodes +[05/27 14:27:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7134 (index 79/115) +[05/27 14:27:18 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 7134 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 14:27:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +[05/27 14:27:59 Worker 0 WARNING object_manager.py:1238] Could not find object objafoil_1c043fb628124513b30a2d7d3ba26bac_1_0_9 in scene +[05/27 14:27:59 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_9 in scene +Goal: place rectangular clay tablet with inscriptions next to hikingshoe +[2026-05-27 14:29:02,644] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:47:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 7134 episode 0 object objaclaytablet_dc350f51b9754a3088196be223f9c0f4_1_0_5 completed with success=False +[05/27 14:47:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +[05/27 14:48:02 Worker 0 WARNING object_manager.py:1238] Could not find object objafoil_1c043fb628124513b30a2d7d3ba26bac_1_0_9 in scene +[05/27 14:48:02 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_9 in scene +Goal: place round shallow metal dish with texture next to glossy red vase with narrow neck +[2026-05-27 14:49:07,191] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:49:39 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:07:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 7134 episode 1 object objadish_5d72b52d57604e109b4d23173707a186_1_0_2 completed with success=False +[05/27 15:07:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7134: 2 episodes +[05/27 15:07:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:07:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:07:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:07:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:07:40 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7134 +[05/27 15:07:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7134 in 5.66s (batch: 5.49s, save: 0.17s) +[05/27 15:07:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7134 +[05/27 15:07:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7134: 0/2 successful episodes +[05/27 15:07:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7140 (index 80/115) +[05/27 15:07:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7140 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 15:07:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/59 [00:00 does not support tracking retries. +Goal: place red roller with yellow core next to small beige clay smoking pipe +[2026-05-27 15:09:12,208] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:09:47 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:27:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 7140 episode 0 object objaroller_bfa3aab6d6704c0c9a48501cb239bb4d_1_0_6 completed with success=False +[05/27 15:27:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7140: 1 episodes +[05/27 15:27:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:27:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:27:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7140 +[05/27 15:27:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7140 in 2.87s (batch: 2.78s, save: 0.10s) +[05/27 15:27:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7140 +[05/27 15:27:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7140: 0/1 successful episodes +[05/27 15:27:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7220 (index 81/115) +[05/27 15:27:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7220 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 15:27:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/60 [00:00 does not support tracking retries. +[05/27 15:27:42 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeitem_cc4bcb149acd44e682eacf1b87f9d7ec_1_0_3 in scene +[05/27 15:27:42 Worker 0 WARNING object_manager.py:1238] Could not find object box_cab37dabf893c5e8d3c18a3ad1a8b8eb_1_0_3 in scene +[05/27 15:27:42 Worker 0 WARNING object_manager.py:1238] Could not find object objafoil_1c043fb628124513b30a2d7d3ba26bac_1_0_9 in scene +[05/27 15:27:42 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_6f646752c976a94a62a6979581d2556d_1_0_9 in scene +Goal: place turquoise gray handheld garden nozzle next to smooth translucent white bowl +[2026-05-27 15:28:44,852] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:46:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 7220 episode 0 object objagardenhosenozzle_619500aff9084deda175046b10dea026_1_0_2 completed with success=False +[05/27 15:46:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7220: 1 episodes +[05/27 15:46:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:46:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:46:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7220 +[05/27 15:46:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7220 in 2.25s (batch: 2.16s, save: 0.09s) +[05/27 15:46:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7220 +[05/27 15:46:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7220: 0/1 successful episodes +[05/27 15:46:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7323 (index 82/115) +[05/27 15:46:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7323 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 15:46:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/27 15:46:42 Worker 0 WARNING object_manager.py:1238] Could not find object objaadhesivetube_338fcd5ea9de466ab71641ff9f528724_1_0_5 in scene +[05/27 15:46:42 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativetile_b385283fec254ff3a812a190fe0d0de5_1_0_5 in scene +[05/27 15:46:42 Worker 0 WARNING object_manager.py:1238] Could not find object objagamingconsole_0b101590f1e34ee39fe7cfeb7264c22d_1_0_5 in scene +Goal: place red onion with stem and roots next to compact blue toaster +[2026-05-27 15:47:44,906] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:48:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 16:04:02 Worker 0 INFO pipeline.py:1114] Worker 0 house 7323 episode 0 object objaonion_3de79af9c89a441881daba64c884bbbf_2_0_2 completed with success=False +[05/27 16:04:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7323: 1 episodes +[05/27 16:04:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:04:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:04:07 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7323 +[05/27 16:04:07 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7323 in 2.26s (batch: 2.17s, save: 0.09s) +[05/27 16:04:08 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7323 +[05/27 16:04:08 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7323: 0/1 successful episodes +[05/27 16:04:08 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7362 (index 83/115) +[05/27 16:04:08 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7362 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 16:04:08 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +Goal: place black sleek wall-mounted hook next to stone slab city map +[2026-05-27 16:05:30,690] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:21:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 7362 episode 0 object objacoathook_39c055fa857242fe839af81c1de61997_1_0_6 completed with success=False +[05/27 16:21:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7362: 1 episodes +[05/27 16:21:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:21:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:21:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7362 +[05/27 16:21:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7362 in 2.35s (batch: 2.27s, save: 0.09s) +[05/27 16:21:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7362 +[05/27 16:21:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7362: 0/1 successful episodes +[05/27 16:21:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7437 (index 84/115) +[05/27 16:21:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7437 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 16:21:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/27 16:22:09 Worker 0 WARNING object_manager.py:1238] Could not find object objalighter_a2db21b57424449f9a2d1aa08e5b0c90_1_0_9 in scene +[05/27 16:22:09 Worker 0 WARNING object_manager.py:1238] Could not find object objacandle_7884554b6cdc4a399e2f948cf5c0ecae_1_0_9 in scene +Goal: place sleek metallic rod with brackets next to detailed pale animal skull +[2026-05-27 16:23:14,090] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:23:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 16:42:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 7437 episode 0 object objacurtainrod_39e17d1508e64d57889236ccc409ba33_1_0_7 completed with success=False +[05/27 16:42:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7437: 1 episodes +[05/27 16:42:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:42:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:42:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7437 +[05/27 16:42:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7437 in 2.84s (batch: 2.74s, save: 0.10s) +[05/27 16:42:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7437 +[05/27 16:42:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7437: 0/1 successful episodes +[05/27 16:42:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7501 (index 85/115) +[05/27 16:42:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7501 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 16:42:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/9 [00:00 does not support tracking retries. +Goal: place tall worn brown vintage book next to soap bottle +[2026-05-27 16:43:48,847] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:44:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 16:49:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 7501 episode 0 object objabook_ff96bdc835d64c179d37fc3f41828dfa_1_0_2 completed with success=False +[05/27 16:49:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7501: 1 episodes +[05/27 16:49:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:49:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:49:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7501 +[05/27 16:49:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7501 in 2.25s (batch: 2.16s, save: 0.09s) +[05/27 16:49:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7501 +[05/27 16:49:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7501: 0/1 successful episodes +[05/27 16:49:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7619 (index 86/115) +[05/27 16:49:19 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7619 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 16:49:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +[05/27 16:49:27 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_2 in scene +Goal: place black lightning trophy with silver plaque next to cratered gray moon +[2026-05-27 16:50:30,427] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:51:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 16:59:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 7619 episode 0 object objaaward_767baba2ef7145d188ab5437730b76ff_1_0_6 completed with success=False +[05/27 16:59:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7619: 1 episodes +[05/27 16:59:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:59:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:59:51 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7619 +[05/27 16:59:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7619 in 2.29s (batch: 2.20s, save: 0.09s) +[05/27 16:59:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7619 +[05/27 16:59:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7619: 0/1 successful episodes +[05/27 16:59:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7730 (index 87/115) +[05/27 16:59:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7730 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 16:59:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/26 [00:00 does not support tracking retries. +Goal: place gray rod with holes next to round dark crust bread +[2026-05-27 17:01:16,636] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:01:49 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 17:10:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 7730 episode 0 object objamountingfixture_c45afc98ee6c4081a0091f6cb3b0ee66_1_0_6 completed with success=False +[05/27 17:10:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7730: 1 episodes +[05/27 17:10:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:10:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:10:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7730 +[05/27 17:10:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7730 in 2.21s (batch: 2.12s, save: 0.09s) +[05/27 17:10:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7730 +[05/27 17:10:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7730: 0/1 successful episodes +[05/27 17:10:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7822 (index 88/115) +[05/27 17:10:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7822 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 17:10:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +Goal: place brass candlestick next to pink rectangular shoe box with logos +[2026-05-27 17:11:26,827] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:21:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 7822 episode 0 object objacandlestick_aa9eb2f8e6584858a1299adf6fee38fd_1_0_2 completed with success=False +[05/27 17:21:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7822: 1 episodes +[05/27 17:21:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:21:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:21:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7822 +[05/27 17:21:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7822 in 2.86s (batch: 2.76s, save: 0.09s) +[05/27 17:21:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7822 +[05/27 17:21:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7822: 0/1 successful episodes +[05/27 17:21:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7874 (index 89/115) +[05/27 17:21:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7874 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 17:21:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/25 [00:00 does not support tracking retries. +Goal: place woodworking plane next to baked goods +[2026-05-27 17:22:39,063] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:23:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 17:33:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 7874 episode 0 object objahandplane_c8e3f42e592c4addad281fed0cca95a9_1_0_6 completed with success=False +[05/27 17:33:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7874: 1 episodes +[05/27 17:33:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:33:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:33:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7874 +[05/27 17:33:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7874 in 2.19s (batch: 2.10s, save: 0.09s) +[05/27 17:33:42 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7874 +[05/27 17:33:42 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7874: 0/1 successful episodes +[05/27 17:33:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7994 (index 90/115) +[05/27 17:33:42 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7994 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 17:33:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +Goal: place handheld tool with red gear head next to dark matte cup with tapered base +[2026-05-27 17:35:04,775] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:35:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 17:42:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 7994 episode 0 object objahandheldtool_0bdb9848a979492ebc8671f1044648cf_1_0_2 completed with success=False +[05/27 17:43:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7994: 1 episodes +[05/27 17:43:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:43:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:43:06 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7994 +[05/27 17:43:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7994 in 2.88s (batch: 2.79s, save: 0.09s) +[05/27 17:43:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7994 +[05/27 17:43:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7994: 0/1 successful episodes +[05/27 17:43:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8095 (index 91/115) +[05/27 17:43:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8095 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 17:43:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/27 17:43:32 Worker 0 WARNING object_manager.py:1238] Could not find object pencil_2c624e64d6f8a208a3a089ad77d16aa1_1_0_3 in scene +[05/27 17:43:32 Worker 0 WARNING object_manager.py:1238] Could not find object vase_6cb319ff57e79d3745bd6ac29c8adb3d_2_0_7 in scene +[05/27 17:43:32 Worker 0 WARNING object_manager.py:1238] Could not find object statue_d0357892bc2a737e4da2f5a294c60c5e_1_0_8 in scene +Goal: place vintage green stick grenade next to brown bowl +[2026-05-27 17:44:35,428] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:45:08 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 18:03:53 Worker 0 INFO pipeline.py:1114] Worker 0 house 8095 episode 0 object objareplicagrenade_7edd60c4948642b290d863898cacd3dd_1_0_6 completed with success=False +[05/27 18:03:56 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8095: 1 episodes +[05/27 18:03:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:03:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:03:59 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8095 +[05/27 18:03:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8095 in 2.33s (batch: 2.24s, save: 0.10s) +[05/27 18:03:59 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8095 +[05/27 18:03:59 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8095: 0/1 successful episodes +[05/27 18:03:59 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8178 (index 92/115) +[05/27 18:03:59 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8178 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 18:03:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/24 [00:00 does not support tracking retries. +Goal: place vintage metal manual juicer next to spray +[2026-05-27 18:05:18,061] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:05:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 18:15:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 8178 episode 0 object objamanualjuicer_f80fbe1482444cc88a218db26b76a74d_1_0_6 completed with success=False +[05/27 18:15:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8178: 1 episodes +[05/27 18:15:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:15:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:15:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8178 +[05/27 18:15:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8178 in 2.84s (batch: 2.75s, save: 0.09s) +[05/27 18:15:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8178 +[05/27 18:15:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8178: 0/1 successful episodes +[05/27 18:15:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8237 (index 93/115) +[05/27 18:15:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8237 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 18:15:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/32 [00:00 does not support tracking retries. +Goal: place wrench next to white disposable paper coffee cup +[2026-05-27 18:16:56,043] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:17:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 18:28:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 8237 episode 0 object objaadjustablewrench_920576578b384b27b5c3e9bf36220c88_1_0_2 completed with success=False +[05/27 18:28:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8237: 1 episodes +[05/27 18:28:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:28:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:28:20 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8237 +[05/27 18:28:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8237 in 2.25s (batch: 2.16s, save: 0.09s) +[05/27 18:28:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8237 +[05/27 18:28:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8237: 0/1 successful episodes +[05/27 18:28:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8321 (index 94/115) +[05/27 18:28:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8321 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 18:28:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/34 [00:00 does not support tracking retries. +Goal: place curved horn next to birdskull +[2026-05-27 18:29:42,733] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:30:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 18:41:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 8321 episode 0 object objadecorativehorn_537d8e1397044be7a2f777c289497445_1_0_6 completed with success=False +[05/27 18:41:17 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8321: 1 episodes +[05/27 18:41:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:41:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:41:20 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8321 +[05/27 18:41:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8321 in 2.86s (batch: 2.77s, save: 0.09s) +[05/27 18:41:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8321 +[05/27 18:41:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8321: 0/1 successful episodes +[05/27 18:41:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8394 (index 95/115) +[05/27 18:41:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8394 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 18:41:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +Goal: place red and white soup can next to medium round brown bread loaf +[2026-05-27 18:42:37,544] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:43:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 18:51:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 8394 episode 0 object objacan_e0976ef0e465417a816b142387f41765_1_0_6 completed with success=False +[05/27 18:51:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8394: 1 episodes +[05/27 18:51:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:51:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:51:26 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8394 +[05/27 18:51:26 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8394 in 2.85s (batch: 2.75s, save: 0.09s) +[05/27 18:51:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8394 +[05/27 18:51:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8394: 0/1 successful episodes +[05/27 18:51:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8480 (index 96/115) +[05/27 18:51:26 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8480 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 18:51:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +Goal: place gavel with brown handle and brass next to bronze statue of nude female +[2026-05-27 18:52:37,590] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:59:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 8480 episode 0 object objagavel_2ae6147628c04ac7a28bfe2b5982b4c3_1_0_2 completed with success=False +[05/27 18:59:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8480: 1 episodes +[05/27 18:59:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:59:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:59:54 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8480 +[05/27 18:59:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8480 in 2.86s (batch: 2.77s, save: 0.09s) +[05/27 18:59:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8480 +[05/27 18:59:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8480: 0/1 successful episodes +[05/27 18:59:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8560 (index 97/115) +[05/27 18:59:55 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8560 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 18:59:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +Goal: place chocolatebunny next to colorful graffiti grenade with handle +[2026-05-27 19:01:19,244] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:01:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:12:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 8560 episode 0 object objachocolatebunny_e58af28ad5c3463bb40a774052541352_1_0_4 completed with success=False +[05/27 19:12:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8560: 1 episodes +[05/27 19:12:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:13:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:13:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8560 +[05/27 19:13:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8560 in 2.86s (batch: 2.76s, save: 0.10s) +[05/27 19:13:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8560 +[05/27 19:13:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8560: 0/1 successful episodes +[05/27 19:13:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8678 (index 98/115) +[05/27 19:13:02 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8678 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 19:13:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +[05/27 19:13:20 Worker 0 WARNING object_manager.py:1238] Could not find object objamarker_c94bb25528ca4d3288cd278be03479ad_1_0_5 in scene +[05/27 19:13:20 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_5 in scene +Goal: place white paper cup with starbucks logo next to yellow apple with stem +[2026-05-27 19:14:25,853] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:14:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:30:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 8678 episode 0 object objapapercup_6b8c2c26639f441cb936801ec6b7490e_1_0_2 completed with success=False +[05/27 19:30:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8678: 1 episodes +[05/27 19:30:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:30:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:30:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8678 +[05/27 19:30:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8678 in 2.96s (batch: 2.87s, save: 0.09s) +[05/27 19:30:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8678 +[05/27 19:30:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8678: 0/1 successful episodes +[05/27 19:30:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8748 (index 99/115) +[05/27 19:30:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8748 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 19:30:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +Goal: place sharp knife next to soapdispenser +[2026-05-27 19:31:22,856] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:31:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:33:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 8748 episode 0 object knife_ddd3867ee8b360621e97c1da8ea8906d_1_0_6 completed with success=False +[05/27 19:34:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8748: 1 episodes +[05/27 19:34:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:34:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:34:03 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8748 +[05/27 19:34:03 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8748 in 2.87s (batch: 2.78s, save: 0.10s) +[05/27 19:34:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8748 +[05/27 19:34:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8748: 0/1 successful episodes +[05/27 19:34:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8853 (index 100/115) +[05/27 19:34:04 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8853 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 19:34:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/59 [00:00 does not support tracking retries. +[05/27 19:34:10 Worker 0 WARNING object_manager.py:1238] Could not find object vase_d568e4c5c2948c69c05d527517276b06_1_0_7 in scene +[05/27 19:34:10 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativechain_920dd47d98484df4a23b8dee1b378c6a_2_0_8 in scene +[05/27 19:34:10 Worker 0 WARNING object_manager.py:1238] Could not find object pillow_e6c6ee75a221e60aa884f04d694f5c5d_1_0_8 in scene +[05/27 19:34:10 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativechain_a3ce79a459cc4849868eb2ab508dbd80_1_0_8 in scene +[05/27 19:34:10 Worker 0 WARNING object_manager.py:1238] Could not find object objasportsshoe_6b4506025d2e4c38bf943c377e53a82b_1_0_9 in scene +[05/27 19:34:10 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_8c6e5265f19b49709119c2628c2bdf3f_1_0_9 in scene +Goal: place crockery next to ceramic bowl +[2026-05-27 19:35:15,677] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:52:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 8853 episode 0 object objasugarbowl_9b683d621e1b4ca384050d16215b1f5b_1_0_2 completed with success=False +[05/27 19:52:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8853: 1 episodes +[05/27 19:52:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:52:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:52:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8853 +[05/27 19:52:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8853 in 2.37s (batch: 2.27s, save: 0.10s) +[05/27 19:52:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8853 +[05/27 19:52:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8853: 0/1 successful episodes +[05/27 19:52:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8905 (index 101/115) +[05/27 19:52:55 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8905 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 19:52:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/39 [00:00 does not support tracking retries. +[05/27 19:53:16 Worker 0 WARNING object_manager.py:1238] Could not find object objabottleopener_d39e342e22d84736968af167f3a865c0_1_0_8 in scene +[05/27 19:53:16 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_8 in scene +Goal: place vintage metal lantern with glass chimney next to black gaming mouse +[2026-05-27 19:54:20,504] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:54:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:08:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 8905 episode 0 object objalantern_4cdb208ff30a4e5493f73fef6246604d_1_0_9 completed with success=False +[05/27 20:08:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8905: 1 episodes +[05/27 20:08:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:08:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:08:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8905 +[05/27 20:08:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8905 in 2.26s (batch: 2.17s, save: 0.09s) +[05/27 20:08:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8905 +[05/27 20:08:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8905: 0/1 successful episodes +[05/27 20:08:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8988 (index 102/115) +[05/27 20:08:19 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8988 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 20:08:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +Goal: place ice-cream cone next to transparent tapered clear plastic cup +[2026-05-27 20:09:40,042] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:10:13 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:27:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 8988 episode 0 object objaicecreamcone_86ccdf30b5f649ab877e698ceaeace33_1_0_2 completed with success=False +[05/27 20:27:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8988: 1 episodes +[05/27 20:27:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:27:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:27:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8988 +[05/27 20:27:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8988 in 2.79s (batch: 2.70s, save: 0.09s) +[05/27 20:27:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8988 +[05/27 20:27:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8988: 0/1 successful episodes +[05/27 20:27:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9044 (index 103/115) +[05/27 20:27:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9044 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 20:27:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +Goal: place medium red apple with smooth surface next to pink heart +[2026-05-27 20:28:36,451] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:29:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:42:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 9044 episode 0 object apple_1184bcea45a878476443040fbba5b76d_1_0_2 completed with success=False +[05/27 20:42:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9044: 1 episodes +[05/27 20:42:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:42:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:42:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9044 +[05/27 20:42:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9044 in 2.36s (batch: 2.27s, save: 0.09s) +[05/27 20:42:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9044 +[05/27 20:42:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9044: 0/1 successful episodes +[05/27 20:42:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9102 (index 104/115) +[05/27 20:42:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9102 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 20:42:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +Goal: place purple serum bottle next to sleek modern juicer metal +[2026-05-27 20:44:45,096] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:45:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:58:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 9102 episode 0 object objabottle_745d282ade2c4b4c8a2b6d8c27cd9112_1_0_8 completed with success=False +[05/27 20:58:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9102: 1 episodes +[05/27 20:58:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:58:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:58:27 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9102 +[05/27 20:58:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9102 in 2.34s (batch: 2.25s, save: 0.09s) +[05/27 20:58:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9102 +[05/27 20:58:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9102: 0/1 successful episodes +[05/27 20:58:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9171 (index 105/115) +[05/27 20:58:27 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9171 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 20:58:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[05/27 20:58:44 Worker 0 WARNING object_manager.py:1238] Could not find object objanarwhalskull_7aca2583e1e44dcfa06fbf2f87ae9a7f_1_0_9 in scene +[05/27 20:58:44 Worker 0 WARNING object_manager.py:1238] Could not find object plate_5eb7564ba51c03b33a20e901d23c4f3b_1_0_9 in scene +Goal: place white rectangular light switch plate next to white rectangular switch plate +[2026-05-27 20:59:46,838] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 21:00:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 21:14:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 9171 episode 0 object objalightswitchcoverplate_8f601aff31c8480db54a5fe7c85b34c2_2_0_5 completed with success=False +[05/27 21:14:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9171: 1 episodes +[05/27 21:14:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 21:14:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 21:14:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9171 +[05/27 21:14:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9171 in 2.79s (batch: 2.70s, save: 0.09s) +[05/27 21:14:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9171 +[05/27 21:14:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9171: 0/1 successful episodes +[05/27 21:14:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9277 (index 106/115) +[05/27 21:14:19 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9277 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 21:14:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/27 21:14:57 Worker 0 WARNING object_manager.py:1238] Could not find object objacleaningsponge_afd092fac12f4ef8984b80d3d15de232_1_0_5 in scene +[05/27 21:14:57 Worker 0 WARNING object_manager.py:1238] Could not find object objasponge_fc6f343e05344c49baa810fb280e9dcb_1_0_5 in scene +Goal: place silver vintage train car model next to figure +[2026-05-27 21:16:01,471] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 21:16:34 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 21:31:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 9277 episode 0 object objatraincarmodel_72eabcdc9e4348a78864d42d439d39b0_1_0_3 completed with success=False +[05/27 21:31:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9277: 1 episodes +[05/27 21:31:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 21:31:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 21:31:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9277 +[05/27 21:31:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9277 in 2.19s (batch: 2.10s, save: 0.09s) +[05/27 21:31:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9277 +[05/27 21:31:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9277: 0/1 successful episodes +[05/27 21:31:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9337 (index 107/115) +[05/27 21:31:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9337 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 21:31:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[05/27 21:32:03 Worker 0 WARNING object_manager.py:1238] Could not find object objapendantnecklace_11a5d7ca6f1e43a2a8ee668935acfb1e_1_0_5 in scene +[05/27 21:32:03 Worker 0 WARNING object_manager.py:1238] Could not find object objaclaytablet_6f3cd26177eb4f679f06286bb6a2f304_1_0_5 in scene +Goal: place vintage metal pencil sharpener next to green hexagonal patterned shell +[2026-05-27 21:33:07,298] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 21:33:39 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 21:35:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 9337 episode 0 object objapencilsharpener_9906a13b5a5647dbad3c67a9150721cd_1_0_8 completed with success=True +[05/27 21:35:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9337: 1 episodes +[05/27 21:35:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 76 timesteps +[05/27 21:35:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 21:35:47 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9337 +[05/27 21:35:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9337 in 1.97s (batch: 1.93s, save: 0.03s) +[05/27 21:35:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9337 +[05/27 21:35:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9337: 1/1 successful episodes +[05/27 21:35:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9463 (index 108/115) +[05/27 21:35:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9463 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 21:35:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/27 21:36:03 Worker 0 WARNING object_manager.py:1238] Could not find object objaslideprojector_78d0310c779d4354be606bc41b16c8a1_1_0_5 in scene +[05/27 21:36:03 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaperroll_d72efd4c78e146d88aeff93a721c5330_1_0_5 in scene +Goal: place flower topped decorative scepter next to gold pump bottle +[2026-05-27 21:37:07,964] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 21:37:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 21:54:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 9463 episode 0 object objadecorativescepter_1eb62803af504e558ea4c6325413dfe3_1_0_2 completed with success=False +[05/27 21:54:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9463: 1 episodes +[05/27 21:54:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 21:54:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 21:54:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9463 +[05/27 21:54:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9463 in 2.27s (batch: 2.18s, save: 0.09s) +[05/27 21:54:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9463 +[05/27 21:54:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9463: 0/1 successful episodes +[05/27 21:54:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9514 (index 109/115) +[05/27 21:54:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9514 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 21:54:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +Goal: place geometric copper candleholder with candle next to teal and yellow binoculars with strap +[2026-05-27 21:55:35,722] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 22:05:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 9514 episode 0 object objacandleholder_1bc497c2bcd140de9928b2cc0543d440_1_0_7 completed with success=False +[05/27 22:05:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9514: 1 episodes +[05/27 22:05:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 22:05:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 22:05:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9514 +[05/27 22:05:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9514 in 2.24s (batch: 2.15s, save: 0.09s) +[05/27 22:05:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9514 +[05/27 22:05:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9514: 0/1 successful episodes +[05/27 22:05:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9599 (index 110/115) +[05/27 22:05:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9599 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 22:05:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +[05/27 22:05:47 Worker 0 WARNING object_manager.py:1238] Could not find object vase_d568e4c5c2948c69c05d527517276b06_1_0_2 in scene +Goal: place blue disc next to round brown dome-shaped loaf bread +[2026-05-27 22:06:52,466] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 22:07:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 22:14:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 9599 episode 0 object objafuturisticdisc_78b75c117fd84042947eac33c40f6da8_1_0_6 completed with success=False +[05/27 22:14:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9599: 1 episodes +[05/27 22:14:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 22:14:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 22:14:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9599 +[05/27 22:14:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9599 in 2.21s (batch: 2.12s, save: 0.09s) +[05/27 22:14:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9599 +[05/27 22:14:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9599: 0/1 successful episodes +[05/27 22:14:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9661 (index 111/115) +[05/27 22:14:57 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9661 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 22:14:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +Goal: place shiny gold script next to dark curved metal tool with handle +[2026-05-27 22:16:11,405] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 22:16:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 22:25:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 9661 episode 0 object objadecorativescript_698f49c7bedb4fc3a5777a9f4edcc5bc_1_0_6 completed with success=False +[05/27 22:25:35 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9661: 1 episodes +[05/27 22:25:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 22:25:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 22:25:38 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9661 +[05/27 22:25:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9661 in 2.86s (batch: 2.76s, save: 0.10s) +[05/27 22:25:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9661 +[05/27 22:25:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9661: 0/1 successful episodes +[05/27 22:25:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9759 (index 112/115) +[05/27 22:25:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9759 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 22:25:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +Goal: place sleek dark rectangular phone next to traffic signal +[2026-05-27 22:26:41,852] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 22:27:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 22:35:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 9759 episode 0 object cellulartelephone_43b2396be97b1322a94e498589888114_1_0_2 completed with success=False +[05/27 22:35:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9759: 1 episodes +[05/27 22:35:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 22:35:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 22:35:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9759 +[05/27 22:35:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9759 in 2.81s (batch: 2.72s, save: 0.09s) +[05/27 22:35:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9759 +[05/27 22:35:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9759: 0/1 successful episodes +[05/27 22:35:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9913 (index 113/115) +[05/27 22:35:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9913 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 22:35:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +Goal: place long glossy green cucumber with ridges next to light ceramic bowl +[2026-05-27 22:36:33,615] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 22:37:13 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 22:49:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 9913 episode 0 object objacucumber_389e61e3fd1e4eacad0000f2e7c31f83_1_0_8 completed with success=False +[05/27 22:49:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9913: 1 episodes +[05/27 22:49:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 22:49:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 22:49:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9913 +[05/27 22:49:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9913 in 2.21s (batch: 2.12s, save: 0.09s) +[05/27 22:49:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9913 +[05/27 22:49:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9913: 0/1 successful episodes +[05/27 22:49:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9955 (index 114/115) +[05/27 22:49:50 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 9955 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 +[05/27 22:49:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[05/27 22:50:10 Worker 0 WARNING object_manager.py:1238] Could not find object objarooftile_46d3ba45fd8a416a9e594deb63de6455_1_0_3 in scene +[05/27 22:50:10 Worker 0 WARNING object_manager.py:1238] Could not find object objamosaicfragment_780cc0fe43954935b548b72e5c9e129d_1_0_3 in scene +Goal: place sharp knife next to blue vintage car +[2026-05-27 22:51:17,027] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 23:04:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 9955 episode 0 object objaknife_367ef0c28acf4aaa84fc290f36414797_1_0_2 completed with success=False +[05/27 23:04:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[05/27 23:04:47 Worker 0 WARNING object_manager.py:1238] Could not find object objarooftile_46d3ba45fd8a416a9e594deb63de6455_1_0_3 in scene +[05/27 23:04:47 Worker 0 WARNING object_manager.py:1238] Could not find object objamosaicfragment_780cc0fe43954935b548b72e5c9e129d_1_0_3 in scene +Goal: place ornate golden tiara with blue gemstones next to alarmclock +[2026-05-27 23:05:49,745] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 23:06:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 23:17:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 9955 episode 1 object objatiara_019c5ddf853e4618a686feeb7c70cb3f_1_0_5 completed with success=False +[05/27 23:17:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9955: 2 episodes +[05/27 23:17:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 23:17:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 23:17:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 23:17:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 23:17:58 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9955 +[05/27 23:17:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9955 in 5.60s (batch: 5.43s, save: 0.17s) +[05/27 23:17:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9955 +[05/27 23:17:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9955: 0/2 successful episodes +[05/27 23:17:58 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses +[05/27 23:17:59 INFO pipeline.py:1496] Completed 115 houses, skipped 0 houses +[05/27 23:17:59 INFO pipeline.py:1499] Success count: 3, Total count: 119 +[05/27 23:17:59 INFO pipeline.py:1500] Success rate: 2.52% +Combined 119 episodes from 115 files → /tmp/tmpcahm8hfq.h5 + +Saved → /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/results.csv at-end: 2.52% | oracle: 2.52% of 119 episodes +[2026-05-27 23:18:14,437] INFO MolmoSpaces simulator eval finished: success=3/119 rate=0.0252 output=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval +[2026-05-27 23:18:14,438] INFO Benchmark CSV: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/results.csv diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/submission/eval_meta.json b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/submission/eval_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4ce3f0e251f17b46c043eea92975af0bce3c6d43 --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/submission/eval_meta.json @@ -0,0 +1,9 @@ +{ + "step": null, + "checkpoint_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt", + "benchmark_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02", + "policy_name": "latest", + "command": "#!/usr/bin/env bash\nset -euo pipefail\ncd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy\nconda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament", + "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815", + "csv_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/results.csv" +} diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/submission/results.csv b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/submission/results.csv new file mode 100644 index 0000000000000000000000000000000000000000..627ac3583e1103af3bfdfdf020583fcb894a722c --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/submission/results.csv @@ -0,0 +1,116 @@ +# policy_name: latest +# run_path: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815 +# dt: 0.066 +# max_steps: 450 +policy,category,successes,total,success_rate_pct,ci_95_low_pct,ci_95_high_pct,oracle_successes,oracle_rate_pct,oracle_ci_95_low_pct,oracle_ci_95_high_pct,jerk_joint_mean,jerk_joint_std +latest,Bowl,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,57.934648,0.0 +latest,Cellulartelephone,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.215032,0.0 +latest,Cup,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,125.45624,0.0 +latest,Fruit,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.300242,0.0 +latest,Knife,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,31.721774,19.453524 +latest,Objaadhesivetape,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,75.56108,0.0 +latest,Objaadjustablewrench,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,51.179867,0.0 +latest,Objaamulet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.09577,0.0 +latest,Objaarrowhead,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,82.178536,0.0 +latest,Objaartistmannequinhand,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,163.422927,0.0 +latest,Objaaward,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,35.027609,0.0 +latest,Objablowtorch,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,17.284418,0.0 +latest,Objabolt,1,2,50.0,9.43,90.57,1,50.0,9.43,90.57,41.913955,0.750104 +latest,Objabook,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.777107,0.0 +latest,Objabottle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,17.191039,0.0 +latest,Objacan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.893222,0.0 +latest,Objacandleholder,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.083419,0.0 +latest,Objacandlestick,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.162542,0.0 +latest,Objacandywrapper,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,41.371993,31.966502 +latest,Objaceramicsculpture,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,43.677371,0.0 +latest,Objachewinggumpackage,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.223849,0.0 +latest,Objachisel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,70.207046,0.0 +latest,Objachocolatebunny,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.337425,0.0 +latest,Objaclaydish,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,58.353734,0.0 +latest,Objaclaytablet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,80.344766,0.0 +latest,Objaclothesiron,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.665245,0.0 +latest,Objacoathook,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.163723,0.0 +latest,Objacorkscrew,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.67815,0.0 +latest,Objacucumber,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,14.439309,0.0 +latest,Objacup,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.261313,0.0 +latest,Objacurtainrod,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,34.053922,0.0 +latest,Objadecorativedragonfigure,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.099013,0.0 +latest,Objadecorativehook,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,35.000888,0.0 +latest,Objadecorativehorn,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.303404,0.0 +latest,Objadecorativeitem,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,44.601137,0.0 +latest,Objadecorativemodel,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,41.458304,6.245287 +latest,Objadecorativepaddle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.592278,0.0 +latest,Objadecorativescepter,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,43.511091,2.031 +latest,Objadecorativescript,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,39.221742,0.0 +latest,Objadecorativetext,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,46.941106,0.0 +latest,Objadentures,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,65.183467,0.0 +latest,Objadish,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,41.336363,0.0 +latest,Objadispenser,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.738996,0.0 +latest,Objadoorknocker,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,54.21573,0.0 +latest,Objadrillbit,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.882362,0.0 +latest,Objaemergencyexitsign,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,39.823779,0.0 +latest,Objafabricroll,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.225712,0.0 +latest,Objaflask,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,44.580781,0.0 +latest,Objafoodpackaging,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,41.276169,0.0 +latest,Objafountainpen,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,46.726871,0.0 +latest,Objafuturisticdisc,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,72.449389,0.0 +latest,Objagardengnome,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,27.367437,0.0 +latest,Objagardenhosenozzle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.175604,0.0 +latest,Objagastorch,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,34.241386,0.0 +latest,Objagavel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,113.781367,0.0 +latest,Objageigercounter,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,26.994532,0.0 +latest,Objagrenade,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,39.887124,0.0 +latest,Objahandaxe,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,95.962561,0.0 +latest,Objahandheldtool,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,25.502846,0.0 +latest,Objahandplane,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,52.493577,0.0 +latest,Objaicecreamcone,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,48.090555,0.0 +latest,Objaknife,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.25826,0.0 +latest,Objalantern,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,23.464402,8.731136 +latest,Objalightswitchcoverplate,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,47.500215,0.0 +latest,Objamagnifyingglass,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,41.041703,0.0 +latest,Objamanualjuicer,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,56.122338,0.0 +latest,Objamarchingbandhat,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,33.977532,0.0 +latest,Objamedallion,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.437694,0.0 +latest,Objametalrail,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,44.79383,0.0 +latest,Objametalring,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.52547,0.0 +latest,Objamountingfixture,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,9.513571,0.0 +latest,Objamuffin,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,68.089366,0.0 +latest,Objamug,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.325569,0.0 +latest,Objaneedlenosepliers,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.752148,0.0 +latest,Objaonion,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,61.162828,0.0 +latest,Objapackagedfood,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,76.699598,0.0 +latest,Objapaintroller,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.114798,0.0 +latest,Objapapercup,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,101.52525,0.0 +latest,Objapayphone,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,98.045261,0.0 +latest,Objapencilsharpener,1,2,50.0,9.43,90.57,1,50.0,9.43,90.57,119.964344,80.706333 +latest,Objapineapple,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.446187,0.0 +latest,Objaportableradio,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,43.076577,7.348875 +latest,Objapouringbowl,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,48.470347,0.0 +latest,Objaprintedcircuitboard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.160731,0.0 +latest,Objapuzzlepiece,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,64.045045,0.0 +latest,Objaremotecontrol,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.14128,0.0 +latest,Objareplicagrenade,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,26.221753,0.0 +latest,Objaroller,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.750705,0.0 +latest,Objascissors,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.642795,0.0 +latest,Objasecuritydevice,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,43.589308,0.0 +latest,Objashoelast,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.409386,0.0 +latest,Objaspraycan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,23.929735,0.0 +latest,Objasteamiron,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,87.39051,0.0 +latest,Objastopwatch,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,24.089731,0.0 +latest,Objasugarbowl,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,44.468079,0.0 +latest,Objasuppressor,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,41.017737,0.0 +latest,Objaswissarmyknife,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,81.639815,0.0 +latest,Objataco,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,63.376782,0.0 +latest,Objatiara,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,34.636043,0.0 +latest,Objatorch,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,41.346061,0.0 +latest,Objatoybuilding,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,23.067745,0.0 +latest,Objatraincarmodel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.375407,0.0 +latest,Objatwowayradio,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.162012,0.0 +latest,Objavirtualrealityheadset,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.297512,0.0 +latest,Objawallet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.369245,0.0 +latest,Objawallrelief,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,9.211466,0.0 +latest,Objawand,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,34.278962,0.0 +latest,Objaweight,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,23.622169,0.0 +latest,Objawoodensculpture,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,41.304062,0.0 +latest,Statue,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,73.023195,0.0 +latest,OVERALL,3,119,2.52,0.92,7.13,3,2.52,0.92,7.13,44.256906,29.013002 diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/submission/run_command.sh b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/submission/run_command.sh new file mode 100644 index 0000000000000000000000000000000000000000..45bccdfcc0d5c985799bc2ec704742c2581caa91 --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/submission/run_command.sh @@ -0,0 +1,4 @@ +#!/usr/bin/env bash +set -euo pipefail +cd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy +conda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/submission/shard_02_results.csv b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/submission/shard_02_results.csv new file mode 100644 index 0000000000000000000000000000000000000000..627ac3583e1103af3bfdfdf020583fcb894a722c --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/submission/shard_02_results.csv @@ -0,0 +1,116 @@ +# policy_name: latest +# run_path: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815 +# dt: 0.066 +# max_steps: 450 +policy,category,successes,total,success_rate_pct,ci_95_low_pct,ci_95_high_pct,oracle_successes,oracle_rate_pct,oracle_ci_95_low_pct,oracle_ci_95_high_pct,jerk_joint_mean,jerk_joint_std +latest,Bowl,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,57.934648,0.0 +latest,Cellulartelephone,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.215032,0.0 +latest,Cup,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,125.45624,0.0 +latest,Fruit,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.300242,0.0 +latest,Knife,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,31.721774,19.453524 +latest,Objaadhesivetape,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,75.56108,0.0 +latest,Objaadjustablewrench,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,51.179867,0.0 +latest,Objaamulet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.09577,0.0 +latest,Objaarrowhead,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,82.178536,0.0 +latest,Objaartistmannequinhand,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,163.422927,0.0 +latest,Objaaward,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,35.027609,0.0 +latest,Objablowtorch,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,17.284418,0.0 +latest,Objabolt,1,2,50.0,9.43,90.57,1,50.0,9.43,90.57,41.913955,0.750104 +latest,Objabook,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.777107,0.0 +latest,Objabottle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,17.191039,0.0 +latest,Objacan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.893222,0.0 +latest,Objacandleholder,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.083419,0.0 +latest,Objacandlestick,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.162542,0.0 +latest,Objacandywrapper,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,41.371993,31.966502 +latest,Objaceramicsculpture,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,43.677371,0.0 +latest,Objachewinggumpackage,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.223849,0.0 +latest,Objachisel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,70.207046,0.0 +latest,Objachocolatebunny,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.337425,0.0 +latest,Objaclaydish,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,58.353734,0.0 +latest,Objaclaytablet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,80.344766,0.0 +latest,Objaclothesiron,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.665245,0.0 +latest,Objacoathook,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.163723,0.0 +latest,Objacorkscrew,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.67815,0.0 +latest,Objacucumber,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,14.439309,0.0 +latest,Objacup,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.261313,0.0 +latest,Objacurtainrod,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,34.053922,0.0 +latest,Objadecorativedragonfigure,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.099013,0.0 +latest,Objadecorativehook,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,35.000888,0.0 +latest,Objadecorativehorn,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.303404,0.0 +latest,Objadecorativeitem,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,44.601137,0.0 +latest,Objadecorativemodel,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,41.458304,6.245287 +latest,Objadecorativepaddle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.592278,0.0 +latest,Objadecorativescepter,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,43.511091,2.031 +latest,Objadecorativescript,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,39.221742,0.0 +latest,Objadecorativetext,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,46.941106,0.0 +latest,Objadentures,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,65.183467,0.0 +latest,Objadish,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,41.336363,0.0 +latest,Objadispenser,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.738996,0.0 +latest,Objadoorknocker,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,54.21573,0.0 +latest,Objadrillbit,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.882362,0.0 +latest,Objaemergencyexitsign,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,39.823779,0.0 +latest,Objafabricroll,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.225712,0.0 +latest,Objaflask,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,44.580781,0.0 +latest,Objafoodpackaging,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,41.276169,0.0 +latest,Objafountainpen,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,46.726871,0.0 +latest,Objafuturisticdisc,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,72.449389,0.0 +latest,Objagardengnome,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,27.367437,0.0 +latest,Objagardenhosenozzle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.175604,0.0 +latest,Objagastorch,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,34.241386,0.0 +latest,Objagavel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,113.781367,0.0 +latest,Objageigercounter,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,26.994532,0.0 +latest,Objagrenade,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,39.887124,0.0 +latest,Objahandaxe,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,95.962561,0.0 +latest,Objahandheldtool,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,25.502846,0.0 +latest,Objahandplane,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,52.493577,0.0 +latest,Objaicecreamcone,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,48.090555,0.0 +latest,Objaknife,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.25826,0.0 +latest,Objalantern,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,23.464402,8.731136 +latest,Objalightswitchcoverplate,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,47.500215,0.0 +latest,Objamagnifyingglass,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,41.041703,0.0 +latest,Objamanualjuicer,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,56.122338,0.0 +latest,Objamarchingbandhat,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,33.977532,0.0 +latest,Objamedallion,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.437694,0.0 +latest,Objametalrail,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,44.79383,0.0 +latest,Objametalring,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.52547,0.0 +latest,Objamountingfixture,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,9.513571,0.0 +latest,Objamuffin,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,68.089366,0.0 +latest,Objamug,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.325569,0.0 +latest,Objaneedlenosepliers,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.752148,0.0 +latest,Objaonion,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,61.162828,0.0 +latest,Objapackagedfood,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,76.699598,0.0 +latest,Objapaintroller,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.114798,0.0 +latest,Objapapercup,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,101.52525,0.0 +latest,Objapayphone,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,98.045261,0.0 +latest,Objapencilsharpener,1,2,50.0,9.43,90.57,1,50.0,9.43,90.57,119.964344,80.706333 +latest,Objapineapple,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.446187,0.0 +latest,Objaportableradio,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,43.076577,7.348875 +latest,Objapouringbowl,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,48.470347,0.0 +latest,Objaprintedcircuitboard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.160731,0.0 +latest,Objapuzzlepiece,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,64.045045,0.0 +latest,Objaremotecontrol,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.14128,0.0 +latest,Objareplicagrenade,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,26.221753,0.0 +latest,Objaroller,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,36.750705,0.0 +latest,Objascissors,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.642795,0.0 +latest,Objasecuritydevice,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,43.589308,0.0 +latest,Objashoelast,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.409386,0.0 +latest,Objaspraycan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,23.929735,0.0 +latest,Objasteamiron,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,87.39051,0.0 +latest,Objastopwatch,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,24.089731,0.0 +latest,Objasugarbowl,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,44.468079,0.0 +latest,Objasuppressor,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,41.017737,0.0 +latest,Objaswissarmyknife,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,81.639815,0.0 +latest,Objataco,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,63.376782,0.0 +latest,Objatiara,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,34.636043,0.0 +latest,Objatorch,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,41.346061,0.0 +latest,Objatoybuilding,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,23.067745,0.0 +latest,Objatraincarmodel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.375407,0.0 +latest,Objatwowayradio,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.162012,0.0 +latest,Objavirtualrealityheadset,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.297512,0.0 +latest,Objawallet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.369245,0.0 +latest,Objawallrelief,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,9.211466,0.0 +latest,Objawand,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,34.278962,0.0 +latest,Objaweight,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,23.622169,0.0 +latest,Objawoodensculpture,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,41.304062,0.0 +latest,Statue,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,73.023195,0.0 +latest,OVERALL,3,119,2.52,0.92,7.13,3,2.52,0.92,7.13,44.256906,29.013002 diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/submission/submission_manifest.json b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/submission/submission_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..de0ca58effaf4758f3f88c793193da6053644497 --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_02/submission/submission_manifest.json @@ -0,0 +1,161 @@ +{ + "policy_name": "latest", + "checkpoint_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt", + "benchmark_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_02", + "results_csv": "results.csv", + "summary_json": "summary.json", + "episode_results_jsonl": "episode_results.jsonl", + "eval_meta_json": "eval_meta.json", + "eval_log": "eval.log", + "metrics_mean": { + "success_rate": 0.025210084033613446, + "success_count": 3.0, + "total_episodes": 119.0, + "avg_episode_length": 440.7563025210084, + "oracle_done_rate": 0.025210084033613446, + "success_rate_pct": 2.52, + "oracle_rate_pct": 2.52 + }, + "stats": { + "total_episodes": 119, + "success_count": 3, + "failure_count": 116, + "success_rate": 0.025210084033613446, + "avg_episode_length": 440.7563025210084, + "min_episode_length": 74, + "max_episode_length": 449, + "num_houses": 115, + "house_success_rates": { + "house_1097": 0.0, + "house_1191": 0.0, + "house_1276": 0.0, + "house_1350": 0.0, + "house_1416": 0.0, + "house_1555": 0.0, + "house_1678": 0.0, + "house_1744": 0.0, + "house_1816": 0.0, + "house_1928": 0.0, + "house_2030": 0.0, + "house_2098": 0.0, + "house_2207": 0.0, + "house_2338": 0.0, + "house_2442": 0.0, + "house_2491": 0.0, + "house_2607": 0.0, + "house_2735": 0.0, + "house_2842": 0.0, + "house_2914": 0.0, + "house_3041": 1.0, + "house_3142": 0.0, + "house_3233": 0.0, + "house_3282": 0.0, + "house_3364": 0.0, + "house_3412": 0.0, + "house_3502": 0.0, + "house_3585": 0.0, + "house_3688": 0.0, + "house_3755": 0.0, + "house_3884": 0.0, + "house_3925": 0.0, + "house_4018": 0.0, + "house_4108": 0.0, + "house_4192": 0.0, + "house_4263": 0.0, + "house_4303": 0.0, + "house_4348": 0.0, + "house_4444": 0.0, + "house_4541": 0.0, + "house_4649": 0.0, + "house_4690": 0.0, + "house_4764": 0.0, + "house_4781": 0.0, + "house_4858": 0.0, + "house_4924": 0.0, + "house_5000": 0.0, + "house_5108": 0.0, + "house_5185": 0.0, + "house_5278": 0.0, + "house_5437": 0.0, + "house_547": 0.0, + 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'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} [pipeline.py: 1287] +05/26 12:05:16 INFO: [Worker 0] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler [pipeline.py: 439] +05/26 12:05:16 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 12:05:16 INFO: [Worker 0] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler [pipeline.py: 445] +05/26 12:05:16 INFO: [Worker 0] Worker 0 starting house 42 (index 0/121) [pipeline.py: 473] +05/26 12:05:16 INFO: [Worker 0] Loaded 1 episodes for house 42 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/26 12:05:16 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 12:05:32 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/26 12:05:37 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_42_ceiling.xml [task_sampler.py: 797] +05/26 12:05:37 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=42, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 12:05:37 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 12:05:37 INFO: [Worker 0] randomize_scene: Setting poses for 46 objects [json_eval_task_sampler.py: 686] +05/26 12:05:37 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 12:05:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 12:05:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 12:05:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 12:05:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 12:05:37 INFO: [Worker 0] Sampled task 'Pick up the vintage compass and place it next to the black hatchet' [task_sampler.py: 1136] +05/26 12:05:37 INFO: [Worker 0] Worker 0 house 42 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 12:05:37 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 12:48:30 INFO: [Worker 0] Worker 0 house 42 episode 0 object objadraftingcompass_f2b0222f35984e599bd6d5913b0b3844_1_0_2 completed with success=False [pipeline.py: 1114] +05/26 12:48:42 INFO: [Worker 0] Batching and saving trajectory data for house_42: 1 episodes [pipeline.py: 233] +05/26 12:48:42 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 12:48:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 12:48:49 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_42 [save_utils.py: 703] +05/26 12:48:49 INFO: [Worker 0] Successfully saved trajectory data for house_42 in 7.38s (batch: 7.15s, save: 0.23s) [pipeline.py: 280] +05/26 12:48:51 WARNING: [Worker 0] No trajectory data to save for house_42 [pipeline.py: 229] +05/26 12:48:51 INFO: [Worker 0] Worker 0 completed house 42: 0/1 successful episodes [pipeline.py: 1243] +05/26 12:48:51 INFO: [Worker 0] Worker 0 starting house 125 (index 1/121) [pipeline.py: 473] +05/26 12:48:51 INFO: [Worker 0] Loaded 1 episodes for house 125 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/26 12:48:51 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 12:49:17 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_125_ceiling.xml [task_sampler.py: 797] +05/26 12:49:17 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=125, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 12:49:17 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 12:49:17 INFO: [Worker 0] randomize_scene: Setting poses for 93 objects [json_eval_task_sampler.py: 686] +05/26 12:49:17 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 12:49:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 12:49:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 12:49:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 12:49:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 12:49:17 INFO: [Worker 0] Sampled task 'Pick up the smoke grenade and place it next to the smooth medium brown egg' [task_sampler.py: 1136] +05/26 12:49:17 INFO: [Worker 0] Worker 0 house 125 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 12:49:17 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 12:49:17 WARNING: [Worker 0] Could not find object objaminiaturelighthouse_3b5644ae7c3544088d92af4f43b3fb9a_1_0_5 in scene [object_manager.py: 1238] +05/26 12:49:17 WARNING: [Worker 0] Could not find object vase_485850bef5e28630dd1156aaec2e3528_1_0_6 in scene [object_manager.py: 1238] +05/26 12:49:20 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 13:55:41 INFO: [Worker 0] Worker 0 house 125 episode 0 object objasmokegrenade_6a086a3c3a324ffa90f3187c03c83ffb_1_0_2 completed with success=False [pipeline.py: 1114] +05/26 13:55:52 INFO: [Worker 0] Batching and saving trajectory data for house_125: 1 episodes [pipeline.py: 233] +05/26 13:55:52 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 13:55:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 13:55:59 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_125 [save_utils.py: 703] +05/26 13:55:59 INFO: [Worker 0] Successfully saved trajectory data for house_125 in 7.01s (batch: 6.59s, save: 0.42s) [pipeline.py: 280] +05/26 13:56:02 WARNING: [Worker 0] No trajectory data to save for house_125 [pipeline.py: 229] +05/26 13:56:02 INFO: [Worker 0] Worker 0 completed house 125: 0/1 successful episodes [pipeline.py: 1243] +05/26 13:56:02 INFO: [Worker 0] Worker 0 starting house 221 (index 2/121) [pipeline.py: 473] +05/26 13:56:02 INFO: [Worker 0] Loaded 1 episodes for house 221 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/26 13:56:02 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 13:56:10 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_221_ceiling.xml [task_sampler.py: 797] +05/26 13:56:10 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=221, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 13:56:10 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 13:56:10 INFO: [Worker 0] randomize_scene: Setting poses for 42 objects [json_eval_task_sampler.py: 686] +05/26 13:56:10 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 13:56:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 13:56:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 13:56:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 13:56:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 13:56:10 INFO: [Worker 0] Sampled task 'Pick up the handwriting and place it next to the green lettuce' [task_sampler.py: 1136] +05/26 13:56:10 INFO: [Worker 0] Worker 0 house 221 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 13:56:11 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 13:56:14 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 14:46:57 INFO: [Worker 0] Worker 0 house 221 episode 0 object objadecorativescript_698f49c7bedb4fc3a5777a9f4edcc5bc_1_0_6 completed with success=False [pipeline.py: 1114] +05/26 14:47:09 INFO: [Worker 0] Batching and saving trajectory data for house_221: 1 episodes [pipeline.py: 233] +05/26 14:47:09 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 14:47:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 14:47:15 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_221 [save_utils.py: 703] +05/26 14:47:15 INFO: [Worker 0] Successfully saved trajectory data for house_221 in 5.98s (batch: 5.68s, save: 0.30s) [pipeline.py: 280] +05/26 14:47:17 WARNING: [Worker 0] No trajectory data to save for house_221 [pipeline.py: 229] +05/26 14:47:17 INFO: [Worker 0] Worker 0 completed house 221: 0/1 successful episodes [pipeline.py: 1243] +05/26 14:47:17 INFO: [Worker 0] Worker 0 starting house 348 (index 3/121) [pipeline.py: 473] +05/26 14:47:17 INFO: [Worker 0] Loaded 1 episodes for house 348 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/26 14:47:17 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 14:47:21 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_348_ceiling.xml [task_sampler.py: 797] +05/26 14:47:21 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=348, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 14:47:21 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 14:47:21 INFO: [Worker 0] randomize_scene: Setting poses for 19 objects [json_eval_task_sampler.py: 686] +05/26 14:47:21 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 14:47:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 14:47:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 14:47:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 14:47:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 14:47:21 INFO: [Worker 0] Sampled task 'Pick up the white and blue scanner and place it next to the modern desk lamp with copper accents' [task_sampler.py: 1136] +05/26 14:47:21 INFO: [Worker 0] Worker 0 house 348 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 14:47:21 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 14:47:22 WARNING: [Worker 0] Could not find object objaclog_4622e88fd9264b37997671efeb73af85_1_0_3 in scene [object_manager.py: 1238] +05/26 14:47:22 WARNING: [Worker 0] Could not find object objanecklace_6c8970b21bf540cdb3616d885c4c7821_1_0_3 in scene [object_manager.py: 1238] +05/26 14:52:27 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 15:27:26 INFO: [Worker 0] Worker 0 house 348 episode 0 object objabarcodescanner_98d96a9ba15a4789b96af0bbce65c270_1_0_2 completed with success=False [pipeline.py: 1114] +05/26 15:27:33 INFO: [Worker 0] Batching and saving trajectory data for house_348: 1 episodes [pipeline.py: 233] +05/26 15:27:33 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 15:27:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 15:27:40 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_348 [save_utils.py: 703] +05/26 15:27:40 INFO: [Worker 0] Successfully saved trajectory data for house_348 in 7.10s (batch: 6.78s, save: 0.33s) [pipeline.py: 280] +05/26 15:27:41 WARNING: [Worker 0] No trajectory data to save for house_348 [pipeline.py: 229] +05/26 15:27:41 INFO: [Worker 0] Worker 0 completed house 348: 0/1 successful episodes [pipeline.py: 1243] +05/26 15:27:41 INFO: [Worker 0] Worker 0 starting house 430 (index 4/121) [pipeline.py: 473] +05/26 15:27:41 INFO: [Worker 0] Loaded 1 episodes for house 430 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/26 15:27:41 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 15:27:50 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_430_ceiling.xml [task_sampler.py: 797] +05/26 15:27:50 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=430, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 15:27:50 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 15:27:50 INFO: [Worker 0] randomize_scene: Setting poses for 25 objects [json_eval_task_sampler.py: 686] +05/26 15:27:50 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 15:27:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 15:27:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 15:27:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 15:27:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 15:27:50 INFO: [Worker 0] Sampled task 'Pick up the tall column with golden statue and place it next to the small oval red potato with texture' [task_sampler.py: 1136] +05/26 15:27:50 INFO: [Worker 0] Worker 0 house 430 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 15:27:51 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 16:15:42 INFO: [Worker 0] Worker 0 house 430 episode 0 object objaminiaturemonument_516e2c582864410b9f7862614ef339e1_1_0_2 completed with success=False [pipeline.py: 1114] +05/26 16:15:50 INFO: [Worker 0] Batching and saving trajectory data for house_430: 1 episodes [pipeline.py: 233] +05/26 16:15:50 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 16:15:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 16:15:58 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_430 [save_utils.py: 703] +05/26 16:15:58 INFO: [Worker 0] Successfully saved trajectory data for house_430 in 7.25s (batch: 6.93s, save: 0.32s) [pipeline.py: 280] +05/26 16:16:00 WARNING: [Worker 0] No trajectory data to save for house_430 [pipeline.py: 229] +05/26 16:16:00 INFO: [Worker 0] Worker 0 completed house 430: 0/1 successful episodes [pipeline.py: 1243] +05/26 16:16:00 INFO: [Worker 0] Worker 0 starting house 507 (index 5/121) [pipeline.py: 473] +05/26 16:16:00 INFO: [Worker 0] Loaded 1 episodes for house 507 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/26 16:16:00 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 16:16:33 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_507_ceiling.xml [task_sampler.py: 797] +05/26 16:16:33 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=507, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 16:16:33 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 16:16:33 INFO: [Worker 0] randomize_scene: Setting poses for 118 objects [json_eval_task_sampler.py: 686] +05/26 16:16:33 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 16:16:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 16:16:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 16:16:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 16:16:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 16:16:33 INFO: [Worker 0] Sampled task 'Pick up the turquoise decorative hourglass with beads and place it next to the gray classic nintendo entertainment console' [task_sampler.py: 1136] +05/26 16:16:33 INFO: [Worker 0] Worker 0 house 507 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 16:16:33 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 16:16:34 WARNING: [Worker 0] Could not find object objaminiaturemicrophone_3df49e881a894f57a431918d7c6d7980_1_0_2 in scene [object_manager.py: 1238] +05/26 18:14:29 INFO: [Worker 0] Worker 0 house 507 episode 0 object objadecorativehourglass_b7df02cc3f844d2a9b39d4f215c3931d_2_0_6 completed with success=False [pipeline.py: 1114] +05/26 18:14:39 INFO: [Worker 0] Batching and saving trajectory data for house_507: 1 episodes [pipeline.py: 233] +05/26 18:14:39 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 18:14:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 18:14:46 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_507 [save_utils.py: 703] +05/26 18:14:46 INFO: [Worker 0] Successfully saved trajectory data for house_507 in 6.84s (batch: 6.48s, save: 0.36s) [pipeline.py: 280] +05/26 18:14:47 WARNING: [Worker 0] No trajectory data to save for house_507 [pipeline.py: 229] +05/26 18:14:47 INFO: [Worker 0] Worker 0 completed house 507: 0/1 successful episodes [pipeline.py: 1243] +05/26 18:14:47 INFO: [Worker 0] Worker 0 starting house 573 (index 6/121) [pipeline.py: 473] +05/26 18:14:47 INFO: [Worker 0] Loaded 1 episodes for house 573 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/26 18:14:47 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 18:15:21 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_573_ceiling.xml [task_sampler.py: 797] +05/26 18:15:21 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=573, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 18:15:21 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 18:15:21 INFO: [Worker 0] randomize_scene: Setting poses for 75 objects [json_eval_task_sampler.py: 686] +05/26 18:15:22 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 18:15:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 18:15:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 18:15:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 18:15:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 18:15:22 INFO: [Worker 0] Sampled task 'Pick up the cream ceramic sugar bowl with handle and place it next to the transparent soap bottle with pump' [task_sampler.py: 1136] +05/26 18:15:22 INFO: [Worker 0] Worker 0 house 573 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 18:15:22 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 18:15:22 WARNING: [Worker 0] Could not find object objaaerosolcan_b6b64dc8ae6049dbba19ae2cef3575bb_1_0_5 in scene [object_manager.py: 1238] +05/26 19:22:52 ERROR: Uncaught exception: [mp_logging.py: 268] +Traceback (most recent call last): + File "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py", line 1066, in + raise SystemExit(main()) + ^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py", line 938, in main + results = run_evaluation( + ^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py", line 690, in run_evaluation + success_count, total_count = runner.run(preloaded_policy=runner_policy) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1467, in run + house_processing_worker( + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/data_generation/pipeline.py", line 483, in house_processing_worker + runner_class.process_single_house( + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1095, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/data_generation/pipeline.py", line 834, in run_single_rollout + observation, reward, terminal, truncated, infos = task.step(action_cmd) + ^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/tasks/task.py", line 351, in step + observation, reward, terminated, truncated, info = self.get_and_cache_all_step_information() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/tasks/task.py", line 196, in get_and_cache_all_step_information + observation = self.get_observations() + ^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/tasks/task.py", line 182, in get_observations + env_obs = self._sensor_suite.get_observations( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/env/abstract_sensors.py", line 111, in get_observations + return { + ^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/env/abstract_sensors.py", line 112, in + uuid: sensor.get_observation(env=env, task=task, **kwargs) # type: ignore + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/env/sensors.py", line 638, in get_observation + info = task.get_info()[batch_index] + ^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/tasks/pick_and_place_next_to_task.py", line 138, in get_info + r_sup_p = om.approximate_supporting_geoms(place_receptacle.body_id, b2g) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/env/object_manager.py", line 1664, in approximate_supporting_geoms + bpoly, bz, bt = get_body_box(body) + ^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/env/object_manager.py", line 1648, in get_body_box + c, e = body_aabb(self.model, self.data, bid) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/utils/mj_model_and_data_utils.py", line 87, in body_aabb + return geom_aabb(model, data, geoms) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/utils/mj_model_and_data_utils.py", line 145, in geom_aabb + mesh_aabb_center, mesh_aabb_size = mesh_aabb(model, data, geom_id) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/utils/mj_model_and_data_utils.py", line 116, in mesh_aabb + aabb_min = np.min(vertices, axis=0) + ^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/numpy/core/fromnumeric.py", line 2831, in _min_dispatcher + def _min_dispatcher(a, axis=None, out=None, keepdims=None, initial=None, + +KeyboardInterrupt diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/running_log.log b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/running_log.log new file mode 100644 index 0000000000000000000000000000000000000000..bc4834db9f24a6701fd78b57111552e22300cad4 --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/running_log.log @@ -0,0 +1,3152 @@ +05/26 19:48:16 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 677] +05/26 19:48:16 INFO: Starting house-by-house rollout of 115 houses with 2 episodes each (230 total episodes) using 1 worker processes [pipeline.py: 1279] +05/26 19:48:16 INFO: Evaluation configuration: [pipeline.py: 1286] +05/26 19:48:16 INFO: {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['droid_shoulder_light_randomization', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 'wan_molmobot_franka', + 'obs_camera_name': 'droid_shoulder_light_randomization', + 'obs_image_key': 'rgb_head', + 'obs_state_key': 'robot_state', + 'obs_wrist_camera_name': 'wrist_camera_zed_mini', + 'obs_wrist_image_key': 'rgb_wrist', + 'policy_cls': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [573, + 621, + 683, + 729, + 781, + 866, + 928, + 1037, + 1165, + 1225, + 1320, + 1387, + 1502, + 1610, + 1729, + 1777, + 1902, + 1978, + 2039, + 2162, + 2266, + 2374, + 2475, + 2537, + 2678, + 2800, + 2873, + 2970, + 3062, + 3095, + 3208, + 3263, + 3300, + 3390, + 3450, + 3529, + 3635, + 3742, + 3790, + 3918, + 4041, + 4145, + 4216, + 4240, + 4291, + 4325, + 4400, + 4494, + 4622, + 4680, + 4716, + 4800, + 4872, + 4962, + 5067, + 5164, + 5203, + 5382, + 5459, + 5546, + 5612, + 5668, + 5773, + 5897, + 5928, + 6068, + 6143, + 6205, + 6269, + 6303, + 6391, + 6437, + 6469, + 6557, + 6705, + 6767, + 6903, + 6978, + 7015, + 7083, + 7174, + 7286, + 7346, + 7396, + 7453, + 7568, + 7668, + 7765, + 7856, + 7970, + 8056, + 8125, + 8224, + 8277, + 8386, + 8421, + 8428, + 8506, + 8627, + 8701, + 8795, + 8878, + 8950, + 9020, + 9080, + 9153, + 9228, + 9305, + 9420, + 9494, + 9541, + 9632, + 9710, + 9821, + 9940], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} [pipeline.py: 1287] +05/26 19:48:16 INFO: [Worker 0] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler [pipeline.py: 439] +05/26 19:48:16 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 19:48:16 INFO: [Worker 0] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler [pipeline.py: 445] +05/26 19:48:16 INFO: [Worker 0] Worker 0 starting house 573 (index 0/115) [pipeline.py: 473] +05/26 19:48:16 INFO: [Worker 0] Loaded 1 episodes for house 573 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/26 19:48:16 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 19:48:31 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/26 19:48:36 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_573_ceiling.xml [task_sampler.py: 797] +05/26 19:48:36 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=573, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 19:48:36 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 19:48:36 INFO: [Worker 0] randomize_scene: Setting poses for 75 objects [json_eval_task_sampler.py: 686] +05/26 19:48:36 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 19:48:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 19:48:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 19:48:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 19:48:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 19:48:36 INFO: [Worker 0] Sampled task 'Pick up the cream ceramic sugar bowl with handle and place it next to the transparent soap bottle with pump' [task_sampler.py: 1136] +05/26 19:48:36 INFO: [Worker 0] Worker 0 house 573 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 19:48:36 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 19:48:36 WARNING: [Worker 0] Could not find object objaaerosolcan_b6b64dc8ae6049dbba19ae2cef3575bb_1_0_5 in scene [object_manager.py: 1238] +05/26 20:03:12 INFO: [Worker 0] Worker 0 house 573 episode 0 object objasugarbowl_9b683d621e1b4ca384050d16215b1f5b_1_0_2 completed with success=False [pipeline.py: 1114] +05/26 20:03:16 INFO: [Worker 0] Batching and saving trajectory data for house_573: 1 episodes [pipeline.py: 233] +05/26 20:03:16 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 20:03:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 20:03:18 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_573 [save_utils.py: 703] +05/26 20:03:18 INFO: [Worker 0] Successfully saved trajectory data for house_573 in 2.69s (batch: 2.60s, save: 0.09s) [pipeline.py: 280] +05/26 20:03:19 WARNING: [Worker 0] No trajectory data to save for house_573 [pipeline.py: 229] +05/26 20:03:19 INFO: [Worker 0] Worker 0 completed house 573: 0/1 successful episodes [pipeline.py: 1243] +05/26 20:03:19 INFO: [Worker 0] Worker 0 starting house 621 (index 1/115) [pipeline.py: 473] +05/26 20:03:19 INFO: [Worker 0] Loaded 1 episodes for house 621 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/26 20:03:19 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 20:03:30 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_621_ceiling.xml [task_sampler.py: 797] +05/26 20:03:30 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=621, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 20:03:30 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 20:03:30 INFO: [Worker 0] randomize_scene: Setting poses for 26 objects [json_eval_task_sampler.py: 686] +05/26 20:03:30 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 20:03:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 20:03:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 20:03:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 20:03:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 20:03:30 INFO: [Worker 0] Sampled task 'Pick up the white ceramic teacup with handle and place it next to the ornate bronze faucet with curve' [task_sampler.py: 1136] +05/26 20:03:30 INFO: [Worker 0] Worker 0 house 621 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 20:03:31 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 20:14:17 INFO: [Worker 0] Worker 0 house 621 episode 0 object objateacup_027f9a512d2e49a582290e8a47ae68ed_1_0_6 completed with success=False [pipeline.py: 1114] +05/26 20:14:20 INFO: [Worker 0] Batching and saving trajectory data for house_621: 1 episodes [pipeline.py: 233] +05/26 20:14:20 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 20:14:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 20:14:22 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_621 [save_utils.py: 703] +05/26 20:14:22 INFO: [Worker 0] Successfully saved trajectory data for house_621 in 2.36s (batch: 2.27s, save: 0.09s) [pipeline.py: 280] +05/26 20:14:23 WARNING: [Worker 0] No trajectory data to save for house_621 [pipeline.py: 229] +05/26 20:14:23 INFO: [Worker 0] Worker 0 completed house 621: 0/1 successful episodes [pipeline.py: 1243] +05/26 20:14:23 INFO: [Worker 0] Worker 0 starting house 683 (index 2/115) [pipeline.py: 473] +05/26 20:14:23 INFO: [Worker 0] Loaded 1 episodes for house 683 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/26 20:14:23 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 20:14:25 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_683_ceiling.xml [task_sampler.py: 797] +05/26 20:14:25 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=683, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 20:14:25 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 20:14:25 INFO: [Worker 0] randomize_scene: Setting poses for 13 objects [json_eval_task_sampler.py: 686] +05/26 20:14:25 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 20:14:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 20:14:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 20:14:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 20:14:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 20:14:25 INFO: [Worker 0] Sampled task 'Pick up the garlic and place it next to the green tool' [task_sampler.py: 1136] +05/26 20:14:25 INFO: [Worker 0] Worker 0 house 683 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 20:14:25 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 20:15:54 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 20:21:51 INFO: [Worker 0] Worker 0 house 683 episode 0 object objagarlic_4dd64ee00ff94f7488ff7793c74a8cdf_1_0_2 completed with success=False [pipeline.py: 1114] +05/26 20:21:55 INFO: [Worker 0] Batching and saving trajectory data for house_683: 1 episodes [pipeline.py: 233] +05/26 20:21:55 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 20:21:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 20:21:58 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_683 [save_utils.py: 703] +05/26 20:21:58 INFO: [Worker 0] Successfully saved trajectory data for house_683 in 2.73s (batch: 2.65s, save: 0.09s) [pipeline.py: 280] +05/26 20:21:58 WARNING: [Worker 0] No trajectory data to save for house_683 [pipeline.py: 229] +05/26 20:21:58 INFO: [Worker 0] Worker 0 completed house 683: 0/1 successful episodes [pipeline.py: 1243] +05/26 20:21:58 INFO: [Worker 0] Worker 0 starting house 729 (index 3/115) [pipeline.py: 473] +05/26 20:21:58 INFO: [Worker 0] Loaded 1 episodes for house 729 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/26 20:21:58 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 20:22:01 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_729_ceiling.xml [task_sampler.py: 797] +05/26 20:22:01 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=729, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 20:22:01 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 20:22:01 INFO: [Worker 0] randomize_scene: Setting poses for 34 objects [json_eval_task_sampler.py: 686] +05/26 20:22:01 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 20:22:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 20:22:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 20:22:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 20:22:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 20:22:01 INFO: [Worker 0] Sampled task 'Pick up the glossy red bell pepper and place it next to the smooth green apple' [task_sampler.py: 1136] +05/26 20:22:01 INFO: [Worker 0] Worker 0 house 729 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 20:22:01 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 20:22:01 WARNING: [Worker 0] Could not find object objatoycamera_8eff73b71375445a8ba75949d58bd3e0_1_0_6 in scene [object_manager.py: 1238] +05/26 20:23:36 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 20:32:15 INFO: [Worker 0] Worker 0 house 729 episode 0 object objabellpepper_9e344338f741427aa5c5809e04b8a979_1_0_6 completed with success=False [pipeline.py: 1114] +05/26 20:32:19 INFO: [Worker 0] Batching and saving trajectory data for house_729: 1 episodes [pipeline.py: 233] +05/26 20:32:19 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 20:32:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 20:32:21 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_729 [save_utils.py: 703] +05/26 20:32:21 INFO: [Worker 0] Successfully saved trajectory data for house_729 in 2.39s (batch: 2.30s, save: 0.09s) [pipeline.py: 280] +05/26 20:32:22 WARNING: [Worker 0] No trajectory data to save for house_729 [pipeline.py: 229] +05/26 20:32:22 INFO: [Worker 0] Worker 0 completed house 729: 0/1 successful episodes [pipeline.py: 1243] +05/26 20:32:22 INFO: [Worker 0] Worker 0 starting house 781 (index 4/115) [pipeline.py: 473] +05/26 20:32:22 INFO: [Worker 0] Loaded 1 episodes for house 781 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/26 20:32:22 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 20:33:12 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/26 20:33:17 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_781_ceiling.xml [task_sampler.py: 797] +05/26 20:33:17 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=781, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 20:33:17 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 20:33:17 INFO: [Worker 0] randomize_scene: Setting poses for 99 objects [json_eval_task_sampler.py: 686] +05/26 20:33:17 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 20:33:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 20:33:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 20:33:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 20:33:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 20:33:17 INFO: [Worker 0] Sampled task 'Pick up the elongated metal finial with base and place it next to the brown poop emoji with smile' [task_sampler.py: 1136] +05/26 20:33:17 INFO: [Worker 0] Worker 0 house 781 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 20:33:17 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 20:33:17 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene [object_manager.py: 1238] +05/26 20:53:51 INFO: [Worker 0] Worker 0 house 781 episode 0 object objafinial_4d7c210e36894fa489a2c4f2954531d9_1_0_3 completed with success=False [pipeline.py: 1114] +05/26 20:53:55 INFO: [Worker 0] Batching and saving trajectory data for house_781: 1 episodes [pipeline.py: 233] +05/26 20:53:55 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 20:53:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 20:53:58 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_781 [save_utils.py: 703] +05/26 20:53:58 INFO: [Worker 0] Successfully saved trajectory data for house_781 in 2.81s (batch: 2.72s, save: 0.09s) [pipeline.py: 280] +05/26 20:53:59 WARNING: [Worker 0] No trajectory data to save for house_781 [pipeline.py: 229] +05/26 20:53:59 INFO: [Worker 0] Worker 0 completed house 781: 0/1 successful episodes [pipeline.py: 1243] +05/26 20:53:59 INFO: [Worker 0] Worker 0 starting house 866 (index 5/115) [pipeline.py: 473] +05/26 20:53:59 INFO: [Worker 0] Loaded 1 episodes for house 866 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/26 20:53:59 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 20:54:03 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_866_ceiling.xml [task_sampler.py: 797] +05/26 20:54:03 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=866, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 20:54:03 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 20:54:03 INFO: [Worker 0] randomize_scene: Setting poses for 35 objects [json_eval_task_sampler.py: 686] +05/26 20:54:03 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 20:54:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 20:54:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 20:54:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 20:54:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 20:54:04 INFO: [Worker 0] Sampled task 'Pick up the wooden pestle with jagged top and place it next to the transparent soap bottle with pump' [task_sampler.py: 1136] +05/26 20:54:04 INFO: [Worker 0] Worker 0 house 866 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 20:54:04 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 20:55:36 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 21:02:09 INFO: [Worker 0] Worker 0 house 866 episode 0 object objapestle_668fa2b7443e423f8b0d252d82a3d100_1_0_2 completed with success=False [pipeline.py: 1114] +05/26 21:02:13 INFO: [Worker 0] Batching and saving trajectory data for house_866: 1 episodes [pipeline.py: 233] +05/26 21:02:13 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 21:02:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 21:02:15 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_866 [save_utils.py: 703] +05/26 21:02:15 INFO: [Worker 0] Successfully saved trajectory data for house_866 in 2.77s (batch: 2.68s, save: 0.09s) [pipeline.py: 280] +05/26 21:02:16 WARNING: [Worker 0] No trajectory data to save for house_866 [pipeline.py: 229] +05/26 21:02:16 INFO: [Worker 0] Worker 0 completed house 866: 0/1 successful episodes [pipeline.py: 1243] +05/26 21:02:16 INFO: [Worker 0] Worker 0 starting house 928 (index 6/115) [pipeline.py: 473] +05/26 21:02:16 INFO: [Worker 0] Loaded 1 episodes for house 928 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/26 21:02:16 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 21:02:49 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_928_ceiling.xml [task_sampler.py: 797] +05/26 21:02:49 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=928, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 21:02:49 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 21:02:49 INFO: [Worker 0] randomize_scene: Setting poses for 79 objects [json_eval_task_sampler.py: 686] +05/26 21:02:49 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 21:02:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 21:02:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 21:02:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 21:02:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 21:02:49 INFO: [Worker 0] Sampled task 'Pick up the wooden handle metal bell and place it next to the modern metal desk lamp' [task_sampler.py: 1136] +05/26 21:02:49 INFO: [Worker 0] Worker 0 house 928 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 21:02:49 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 21:21:20 INFO: [Worker 0] Worker 0 house 928 episode 0 object objahandbell_f020483b3c5949539fa4a3502fea05ad_1_0_6 completed with success=False [pipeline.py: 1114] +05/26 21:21:23 INFO: [Worker 0] Batching and saving trajectory data for house_928: 1 episodes [pipeline.py: 233] +05/26 21:21:23 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 21:21:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 21:21:26 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_928 [save_utils.py: 703] +05/26 21:21:26 INFO: [Worker 0] Successfully saved trajectory data for house_928 in 2.34s (batch: 2.25s, save: 0.09s) [pipeline.py: 280] +05/26 21:21:26 WARNING: [Worker 0] No trajectory data to save for house_928 [pipeline.py: 229] +05/26 21:21:26 INFO: [Worker 0] Worker 0 completed house 928: 0/1 successful episodes [pipeline.py: 1243] +05/26 21:21:26 INFO: [Worker 0] Worker 0 starting house 1037 (index 7/115) [pipeline.py: 473] +05/26 21:21:26 INFO: [Worker 0] Loaded 1 episodes for house 1037 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/26 21:21:26 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 21:21:50 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1037_ceiling.xml [task_sampler.py: 797] +05/26 21:21:50 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1037, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 21:21:50 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 21:21:50 INFO: [Worker 0] randomize_scene: Setting poses for 72 objects [json_eval_task_sampler.py: 686] +05/26 21:21:50 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 21:21:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 21:21:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 21:21:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 21:21:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 21:21:50 INFO: [Worker 0] Sampled task 'Pick up the metal stake and place it next to the brown and blue compact alarm clock' [task_sampler.py: 1136] +05/26 21:21:50 INFO: [Worker 0] Worker 0 house 1037 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 21:21:50 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 21:23:19 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 21:38:10 INFO: [Worker 0] Worker 0 house 1037 episode 0 object objastake_b79cee771e604eec8845a1d74dbb417a_1_0_6 completed with success=False [pipeline.py: 1114] +05/26 21:38:14 INFO: [Worker 0] Batching and saving trajectory data for house_1037: 1 episodes [pipeline.py: 233] +05/26 21:38:14 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 21:38:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 21:38:17 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1037 [save_utils.py: 703] +05/26 21:38:17 INFO: [Worker 0] Successfully saved trajectory data for house_1037 in 2.89s (batch: 2.80s, save: 0.09s) [pipeline.py: 280] +05/26 21:38:17 WARNING: [Worker 0] No trajectory data to save for house_1037 [pipeline.py: 229] +05/26 21:38:17 INFO: [Worker 0] Worker 0 completed house 1037: 0/1 successful episodes [pipeline.py: 1243] +05/26 21:38:17 INFO: [Worker 0] Worker 0 starting house 1165 (index 8/115) [pipeline.py: 473] +05/26 21:38:17 INFO: [Worker 0] Loaded 1 episodes for house 1165 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/26 21:38:17 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 21:38:45 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1165_ceiling.xml [task_sampler.py: 797] +05/26 21:38:45 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1165, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 21:38:45 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 21:38:45 INFO: [Worker 0] randomize_scene: Setting poses for 73 objects [json_eval_task_sampler.py: 686] +05/26 21:38:45 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 21:38:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 21:38:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 21:38:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 21:38:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 21:38:45 INFO: [Worker 0] Sampled task 'Pick up the gray roller assembly with black frame and place it next to the green tree' [task_sampler.py: 1136] +05/26 21:38:45 INFO: [Worker 0] Worker 0 house 1165 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 21:38:45 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 21:38:45 WARNING: [Worker 0] Could not find object bowl_be7868e9f68042e57983c0b0aeec19df_1_0_7 in scene [object_manager.py: 1238] +05/26 21:40:22 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 21:53:40 INFO: [Worker 0] Worker 0 house 1165 episode 0 object objarollerassembly_974c0781de924642a00b6c3e1c56462b_1_0_3 completed with success=False [pipeline.py: 1114] +05/26 21:53:44 INFO: [Worker 0] Batching and saving trajectory data for house_1165: 1 episodes [pipeline.py: 233] +05/26 21:53:44 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 21:53:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 21:53:47 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1165 [save_utils.py: 703] +05/26 21:53:47 INFO: [Worker 0] Successfully saved trajectory data for house_1165 in 2.90s (batch: 2.81s, save: 0.10s) [pipeline.py: 280] +05/26 21:53:48 WARNING: [Worker 0] No trajectory data to save for house_1165 [pipeline.py: 229] +05/26 21:53:48 INFO: [Worker 0] Worker 0 completed house 1165: 0/1 successful episodes [pipeline.py: 1243] +05/26 21:53:48 INFO: [Worker 0] Worker 0 starting house 1225 (index 9/115) [pipeline.py: 473] +05/26 21:53:48 INFO: [Worker 0] Loaded 1 episodes for house 1225 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/26 21:53:48 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 21:54:31 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1225_ceiling.xml [task_sampler.py: 797] +05/26 21:54:31 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1225, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 21:54:31 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 21:54:31 INFO: [Worker 0] randomize_scene: Setting poses for 90 objects [json_eval_task_sampler.py: 686] +05/26 21:54:31 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 21:54:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 21:54:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 21:54:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 21:54:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 21:54:31 INFO: [Worker 0] Sampled task 'Pick up the garlic and place it next to the chocolate nut ice cream' [task_sampler.py: 1136] +05/26 21:54:31 INFO: [Worker 0] Worker 0 house 1225 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 21:54:31 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 21:54:31 WARNING: [Worker 0] Could not find object objadentures_46145e0221e94a3185b215c07d0f4340_1_0_9 in scene [object_manager.py: 1238] +05/26 21:54:31 WARNING: [Worker 0] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_3_0_9 in scene [object_manager.py: 1238] +05/26 22:12:52 INFO: [Worker 0] Worker 0 house 1225 episode 0 object objagarlic_4dd64ee00ff94f7488ff7793c74a8cdf_1_0_2 completed with success=False [pipeline.py: 1114] +05/26 22:12:55 INFO: [Worker 0] Batching and saving trajectory data for house_1225: 1 episodes [pipeline.py: 233] +05/26 22:12:55 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 22:12:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 22:12:58 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1225 [save_utils.py: 703] +05/26 22:12:58 INFO: [Worker 0] Successfully saved trajectory data for house_1225 in 2.50s (batch: 2.41s, save: 0.09s) [pipeline.py: 280] +05/26 22:12:58 WARNING: [Worker 0] No trajectory data to save for house_1225 [pipeline.py: 229] +05/26 22:12:58 INFO: [Worker 0] Worker 0 completed house 1225: 0/1 successful episodes [pipeline.py: 1243] +05/26 22:12:58 INFO: [Worker 0] Worker 0 starting house 1320 (index 10/115) [pipeline.py: 473] +05/26 22:12:58 INFO: [Worker 0] Loaded 1 episodes for house 1320 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/26 22:12:58 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 22:13:50 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1320_ceiling.xml [task_sampler.py: 797] +05/26 22:13:50 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1320, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 22:13:50 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 22:13:50 INFO: [Worker 0] randomize_scene: Setting poses for 107 objects [json_eval_task_sampler.py: 686] +05/26 22:13:50 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 22:13:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 22:13:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 22:13:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 22:13:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 22:13:50 INFO: [Worker 0] Sampled task 'Pick up the brown medium potato and place it next to the green cup with flared rim' [task_sampler.py: 1136] +05/26 22:13:50 INFO: [Worker 0] Worker 0 house 1320 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 22:13:50 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 22:15:28 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 22:33:46 INFO: [Worker 0] Worker 0 house 1320 episode 0 object Irishpotato_4ccdc5ebde4d6fee07ff9eefb0b60cfb_1_0_2 completed with success=False [pipeline.py: 1114] +05/26 22:33:50 INFO: [Worker 0] Batching and saving trajectory data for house_1320: 1 episodes [pipeline.py: 233] +05/26 22:33:50 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 22:33:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 22:33:53 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1320 [save_utils.py: 703] +05/26 22:33:53 INFO: [Worker 0] Successfully saved trajectory data for house_1320 in 2.85s (batch: 2.76s, save: 0.09s) [pipeline.py: 280] +05/26 22:33:54 WARNING: [Worker 0] No trajectory data to save for house_1320 [pipeline.py: 229] +05/26 22:33:54 INFO: [Worker 0] Worker 0 completed house 1320: 0/1 successful episodes [pipeline.py: 1243] +05/26 22:33:54 INFO: [Worker 0] Worker 0 starting house 1387 (index 11/115) [pipeline.py: 473] +05/26 22:33:54 INFO: [Worker 0] Loaded 1 episodes for house 1387 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/26 22:33:54 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 22:34:25 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1387_ceiling.xml [task_sampler.py: 797] +05/26 22:34:25 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1387, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 22:34:25 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 22:34:25 INFO: [Worker 0] randomize_scene: Setting poses for 87 objects [json_eval_task_sampler.py: 686] +05/26 22:34:25 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 22:34:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 22:34:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 22:34:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 22:34:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 22:34:25 INFO: [Worker 0] Sampled task 'Pick up the handheld tool and place it next to the bulbous shiny gold vase' [task_sampler.py: 1136] +05/26 22:34:25 INFO: [Worker 0] Worker 0 house 1387 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 22:34:25 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 22:52:28 INFO: [Worker 0] Worker 0 house 1387 episode 0 object objahandheldtool_73568d0c5842467b973426acd033a47d_1_0_7 completed with success=False [pipeline.py: 1114] +05/26 22:52:32 INFO: [Worker 0] Batching and saving trajectory data for house_1387: 1 episodes [pipeline.py: 233] +05/26 22:52:32 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 22:52:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 22:52:35 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1387 [save_utils.py: 703] +05/26 22:52:35 INFO: [Worker 0] Successfully saved trajectory data for house_1387 in 2.84s (batch: 2.74s, save: 0.09s) [pipeline.py: 280] +05/26 22:52:36 WARNING: [Worker 0] No trajectory data to save for house_1387 [pipeline.py: 229] +05/26 22:52:36 INFO: [Worker 0] Worker 0 completed house 1387: 0/1 successful episodes [pipeline.py: 1243] +05/26 22:52:36 INFO: [Worker 0] Worker 0 starting house 1502 (index 12/115) [pipeline.py: 473] +05/26 22:52:36 INFO: [Worker 0] Loaded 1 episodes for house 1502 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/26 22:52:36 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 22:53:02 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1502_ceiling.xml [task_sampler.py: 797] +05/26 22:53:02 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1502, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 22:53:02 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 22:53:02 INFO: [Worker 0] randomize_scene: Setting poses for 48 objects [json_eval_task_sampler.py: 686] +05/26 22:53:02 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 22:53:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 22:53:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 22:53:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 22:53:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 22:53:02 INFO: [Worker 0] Sampled task 'Pick up the long slender dark stick and place it next to the white molding with flowers' [task_sampler.py: 1136] +05/26 22:53:02 INFO: [Worker 0] Worker 0 house 1502 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 22:53:02 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 22:54:39 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 23:04:41 INFO: [Worker 0] Worker 0 house 1502 episode 0 object objadecorativestick_bfc1cb3341914d5aa3f6633ef58b4106_1_0_6 completed with success=False [pipeline.py: 1114] +05/26 23:04:45 INFO: [Worker 0] Batching and saving trajectory data for house_1502: 1 episodes [pipeline.py: 233] +05/26 23:04:45 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 23:04:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 23:04:47 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1502 [save_utils.py: 703] +05/26 23:04:47 INFO: [Worker 0] Successfully saved trajectory data for house_1502 in 2.30s (batch: 2.21s, save: 0.09s) [pipeline.py: 280] +05/26 23:04:47 WARNING: [Worker 0] No trajectory data to save for house_1502 [pipeline.py: 229] +05/26 23:04:47 INFO: [Worker 0] Worker 0 completed house 1502: 0/1 successful episodes [pipeline.py: 1243] +05/26 23:04:47 INFO: [Worker 0] Worker 0 starting house 1610 (index 13/115) [pipeline.py: 473] +05/26 23:04:47 INFO: [Worker 0] Loaded 1 episodes for house 1610 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/26 23:04:47 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 23:05:23 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1610_ceiling.xml [task_sampler.py: 797] +05/26 23:05:23 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1610, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 23:05:23 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 23:05:23 INFO: [Worker 0] randomize_scene: Setting poses for 19 objects [json_eval_task_sampler.py: 686] +05/26 23:05:23 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 23:05:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 23:05:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 23:05:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 23:05:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 23:05:23 INFO: [Worker 0] Sampled task 'Pick up the vintage metal calendar and place it next to the black submarine' [task_sampler.py: 1136] +05/26 23:05:23 INFO: [Worker 0] Worker 0 house 1610 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 23:05:23 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 23:13:34 INFO: [Worker 0] Worker 0 house 1610 episode 0 object objadeskcalendar_c0ddec650d304adbb5d6730f43205dda_1_0_3 completed with success=False [pipeline.py: 1114] +05/26 23:13:37 INFO: [Worker 0] Batching and saving trajectory data for house_1610: 1 episodes [pipeline.py: 233] +05/26 23:13:37 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 23:13:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 23:13:39 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1610 [save_utils.py: 703] +05/26 23:13:39 INFO: [Worker 0] Successfully saved trajectory data for house_1610 in 2.32s (batch: 2.23s, save: 0.09s) [pipeline.py: 280] +05/26 23:13:40 WARNING: [Worker 0] No trajectory data to save for house_1610 [pipeline.py: 229] +05/26 23:13:40 INFO: [Worker 0] Worker 0 completed house 1610: 0/1 successful episodes [pipeline.py: 1243] +05/26 23:13:40 INFO: [Worker 0] Worker 0 starting house 1729 (index 14/115) [pipeline.py: 473] +05/26 23:13:40 INFO: [Worker 0] Loaded 1 episodes for house 1729 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/26 23:13:40 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 23:13:43 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1729_ceiling.xml [task_sampler.py: 797] +05/26 23:13:43 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1729, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 23:13:43 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 23:13:43 INFO: [Worker 0] randomize_scene: Setting poses for 47 objects [json_eval_task_sampler.py: 686] +05/26 23:13:43 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 23:13:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 23:13:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 23:13:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 23:13:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 23:13:43 INFO: [Worker 0] Sampled task 'Pick up the sleek metallic juicer with legs and place it next to the soap bottle' [task_sampler.py: 1136] +05/26 23:13:43 INFO: [Worker 0] Worker 0 house 1729 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 23:13:43 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 23:15:23 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 23:25:49 INFO: [Worker 0] Worker 0 house 1729 episode 0 object objajuicer_781344ece32d4692affe82c5474c0b75_1_0_6 completed with success=False [pipeline.py: 1114] +05/26 23:25:52 INFO: [Worker 0] Batching and saving trajectory data for house_1729: 1 episodes [pipeline.py: 233] +05/26 23:25:52 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 23:25:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 23:25:54 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1729 [save_utils.py: 703] +05/26 23:25:54 INFO: [Worker 0] Successfully saved trajectory data for house_1729 in 2.29s (batch: 2.20s, save: 0.09s) [pipeline.py: 280] +05/26 23:25:54 WARNING: [Worker 0] No trajectory data to save for house_1729 [pipeline.py: 229] +05/26 23:25:54 INFO: [Worker 0] Worker 0 completed house 1729: 0/1 successful episodes [pipeline.py: 1243] +05/26 23:25:54 INFO: [Worker 0] Worker 0 starting house 1777 (index 15/115) [pipeline.py: 473] +05/26 23:25:54 INFO: [Worker 0] Loaded 1 episodes for house 1777 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/26 23:25:54 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 23:26:07 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1777_ceiling.xml [task_sampler.py: 797] +05/26 23:26:07 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1777, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 23:26:07 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 23:26:07 INFO: [Worker 0] randomize_scene: Setting poses for 87 objects [json_eval_task_sampler.py: 686] +05/26 23:26:07 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 23:26:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 23:26:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 23:26:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 23:26:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 23:26:07 INFO: [Worker 0] Sampled task 'Pick up the moka pot and place it next to the glossy translucent cup with flared top' [task_sampler.py: 1136] +05/26 23:26:07 INFO: [Worker 0] Worker 0 house 1777 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 23:26:07 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 23:27:42 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 23:42:43 INFO: [Worker 0] Worker 0 house 1777 episode 0 object objamokapot_8d83a1f7c94045b38e5c62fc4feecb0b_1_0_2 completed with success=False [pipeline.py: 1114] +05/26 23:42:47 INFO: [Worker 0] Batching and saving trajectory data for house_1777: 1 episodes [pipeline.py: 233] +05/26 23:42:47 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 23:42:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 23:42:50 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1777 [save_utils.py: 703] +05/26 23:42:50 INFO: [Worker 0] Successfully saved trajectory data for house_1777 in 3.01s (batch: 2.92s, save: 0.09s) [pipeline.py: 280] +05/26 23:42:51 WARNING: [Worker 0] No trajectory data to save for house_1777 [pipeline.py: 229] +05/26 23:42:51 INFO: [Worker 0] Worker 0 completed house 1777: 0/1 successful episodes [pipeline.py: 1243] +05/26 23:42:51 INFO: [Worker 0] Worker 0 starting house 1902 (index 16/115) [pipeline.py: 473] +05/26 23:42:51 INFO: [Worker 0] Loaded 1 episodes for house 1902 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/26 23:42:51 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 23:44:01 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1902_ceiling.xml [task_sampler.py: 797] +05/26 23:44:01 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1902, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 23:44:01 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 23:44:01 INFO: [Worker 0] randomize_scene: Setting poses for 55 objects [json_eval_task_sampler.py: 686] +05/26 23:44:01 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 23:44:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 23:44:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 23:44:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 23:44:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 23:44:01 INFO: [Worker 0] Sampled task 'Pick up the tangled wire sphere and place it next to the glossy black dog statue sitting' [task_sampler.py: 1136] +05/26 23:44:01 INFO: [Worker 0] Worker 0 house 1902 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 23:44:02 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 23:59:06 INFO: [Worker 0] Worker 0 house 1902 episode 0 object objawiresculpture_12c19793bbfa432ebbb8c920f01ac72d_2_0_3 completed with success=False [pipeline.py: 1114] +05/26 23:59:10 INFO: [Worker 0] Batching and saving trajectory data for house_1902: 1 episodes [pipeline.py: 233] +05/26 23:59:10 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 23:59:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 23:59:13 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1902 [save_utils.py: 703] +05/26 23:59:13 INFO: [Worker 0] Successfully saved trajectory data for house_1902 in 2.80s (batch: 2.71s, save: 0.09s) [pipeline.py: 280] +05/26 23:59:14 WARNING: [Worker 0] No trajectory data to save for house_1902 [pipeline.py: 229] +05/26 23:59:14 INFO: [Worker 0] Worker 0 completed house 1902: 0/1 successful episodes [pipeline.py: 1243] +05/26 23:59:14 INFO: [Worker 0] Worker 0 starting house 1978 (index 17/115) [pipeline.py: 473] +05/26 23:59:14 INFO: [Worker 0] Loaded 1 episodes for house 1978 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/26 23:59:14 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 00:02:44 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1978_ceiling.xml [task_sampler.py: 797] +05/27 00:02:44 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1978, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 00:02:44 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 00:02:44 INFO: [Worker 0] randomize_scene: Setting poses for 97 objects [json_eval_task_sampler.py: 686] +05/27 00:02:44 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 00:02:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 00:02:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 00:02:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 00:02:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 00:02:44 INFO: [Worker 0] Sampled task 'Pick up the flat brown h-shaped rectangular piece and place it next to the conical soap bottle with pump' [task_sampler.py: 1136] +05/27 00:02:44 INFO: [Worker 0] Worker 0 house 1978 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 00:02:45 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 00:02:45 WARNING: [Worker 0] Could not find object objajewelry_5d13ef83fc9f496fb99b97e4f0e5e610_2_0_9 in scene [object_manager.py: 1238] +05/27 00:02:45 WARNING: [Worker 0] Could not find object objalantern_9d65ca34fa3d432b9372c9cdb60a9a00_1_0_9 in scene [object_manager.py: 1238] +05/27 00:04:23 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 00:23:30 INFO: [Worker 0] Worker 0 house 1978 episode 0 object objacomponent_5ca9a2c89480421592cd65b82d2a028b_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 00:23:34 INFO: [Worker 0] Batching and saving trajectory data for house_1978: 1 episodes [pipeline.py: 233] +05/27 00:23:34 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 00:23:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 00:23:36 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1978 [save_utils.py: 703] +05/27 00:23:36 INFO: [Worker 0] Successfully saved trajectory data for house_1978 in 2.32s (batch: 2.23s, save: 0.09s) [pipeline.py: 280] +05/27 00:23:36 WARNING: [Worker 0] No trajectory data to save for house_1978 [pipeline.py: 229] +05/27 00:23:36 INFO: [Worker 0] Worker 0 completed house 1978: 0/1 successful episodes [pipeline.py: 1243] +05/27 00:23:36 INFO: [Worker 0] Worker 0 starting house 2039 (index 18/115) [pipeline.py: 473] +05/27 00:23:36 INFO: [Worker 0] Loaded 1 episodes for house 2039 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 00:23:36 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 00:24:08 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2039_ceiling.xml [task_sampler.py: 797] +05/27 00:24:08 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2039, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 00:24:08 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 00:24:08 INFO: [Worker 0] randomize_scene: Setting poses for 53 objects [json_eval_task_sampler.py: 686] +05/27 00:24:08 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 00:24:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 00:24:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 00:24:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 00:24:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 00:24:08 INFO: [Worker 0] Sampled task 'Pick up the wooden stake topped with red gem and place it next to the bulbous shiny gold metallic vase' [task_sampler.py: 1136] +05/27 00:24:08 INFO: [Worker 0] Worker 0 house 2039 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 00:24:08 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 00:25:45 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 00:37:04 INFO: [Worker 0] Worker 0 house 2039 episode 0 object objadecorativestake_f7da54612fcd4df18fc7db6392979318_1_0_4 completed with success=False [pipeline.py: 1114] +05/27 00:37:08 INFO: [Worker 0] Batching and saving trajectory data for house_2039: 1 episodes [pipeline.py: 233] +05/27 00:37:08 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 00:37:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 00:37:11 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2039 [save_utils.py: 703] +05/27 00:37:11 INFO: [Worker 0] Successfully saved trajectory data for house_2039 in 2.80s (batch: 2.71s, save: 0.09s) [pipeline.py: 280] +05/27 00:37:11 WARNING: [Worker 0] No trajectory data to save for house_2039 [pipeline.py: 229] +05/27 00:37:11 INFO: [Worker 0] Worker 0 completed house 2039: 0/1 successful episodes [pipeline.py: 1243] +05/27 00:37:11 INFO: [Worker 0] Worker 0 starting house 2162 (index 19/115) [pipeline.py: 473] +05/27 00:37:11 INFO: [Worker 0] Loaded 1 episodes for house 2162 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 00:37:11 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 00:37:12 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/27 00:37:15 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2162_ceiling.xml [task_sampler.py: 797] +05/27 00:37:15 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2162, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 00:37:15 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 00:37:15 INFO: [Worker 0] randomize_scene: Setting poses for 57 objects [json_eval_task_sampler.py: 686] +05/27 00:37:15 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 00:37:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 00:37:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 00:37:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 00:37:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 00:37:15 INFO: [Worker 0] Sampled task 'Pick up the blue hammer with orange handle and place it next to the murphy' [task_sampler.py: 1136] +05/27 00:37:15 INFO: [Worker 0] Worker 0 house 2162 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 00:37:15 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 00:37:16 WARNING: [Worker 0] Could not find object pencil_2c624e64d6f8a208a3a089ad77d16aa1_1_0_4 in scene [object_manager.py: 1238] +05/27 00:37:16 WARNING: [Worker 0] Could not find object objaceilingpanel_a3d6f7df9ff94ed59f95d5086d5f3fdd_1_0_7 in scene [object_manager.py: 1238] +05/27 00:38:58 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 00:50:07 INFO: [Worker 0] Worker 0 house 2162 episode 0 object objahandtool_ed6973497d074fd6969fd06f52e8da04_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 00:50:10 INFO: [Worker 0] Batching and saving trajectory data for house_2162: 1 episodes [pipeline.py: 233] +05/27 00:50:10 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 00:50:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 00:50:12 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2162 [save_utils.py: 703] +05/27 00:50:12 INFO: [Worker 0] Successfully saved trajectory data for house_2162 in 2.31s (batch: 2.22s, save: 0.09s) [pipeline.py: 280] +05/27 00:50:13 WARNING: [Worker 0] No trajectory data to save for house_2162 [pipeline.py: 229] +05/27 00:50:13 INFO: [Worker 0] Worker 0 completed house 2162: 0/1 successful episodes [pipeline.py: 1243] +05/27 00:50:13 INFO: [Worker 0] Worker 0 starting house 2266 (index 20/115) [pipeline.py: 473] +05/27 00:50:13 INFO: [Worker 0] Loaded 1 episodes for house 2266 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 00:50:13 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 00:50:15 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2266_ceiling.xml [task_sampler.py: 797] +05/27 00:50:15 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2266, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 00:50:15 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 00:50:15 INFO: [Worker 0] randomize_scene: Setting poses for 25 objects [json_eval_task_sampler.py: 686] +05/27 00:50:15 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 00:50:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 00:50:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 00:50:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 00:50:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 00:50:15 INFO: [Worker 0] Sampled task 'Pick up the glossy green cup and place it next to the glossy round bowl' [task_sampler.py: 1136] +05/27 00:50:15 INFO: [Worker 0] Worker 0 house 2266 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 00:50:15 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 00:51:53 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 00:57:51 INFO: [Worker 0] Worker 0 house 2266 episode 0 object cup_8d9428c0be7f5e5aef31cf7e5152e057_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 00:57:55 INFO: [Worker 0] Batching and saving trajectory data for house_2266: 1 episodes [pipeline.py: 233] +05/27 00:57:55 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 00:57:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 00:57:58 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2266 [save_utils.py: 703] +05/27 00:57:58 INFO: [Worker 0] Successfully saved trajectory data for house_2266 in 2.76s (batch: 2.68s, save: 0.09s) [pipeline.py: 280] +05/27 00:57:59 WARNING: [Worker 0] No trajectory data to save for house_2266 [pipeline.py: 229] +05/27 00:57:59 INFO: [Worker 0] Worker 0 completed house 2266: 0/1 successful episodes [pipeline.py: 1243] +05/27 00:57:59 INFO: [Worker 0] Worker 0 starting house 2374 (index 21/115) [pipeline.py: 473] +05/27 00:57:59 INFO: [Worker 0] Loaded 1 episodes for house 2374 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 00:57:59 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 00:58:05 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2374_ceiling.xml [task_sampler.py: 797] +05/27 00:58:05 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2374, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 00:58:05 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 00:58:05 INFO: [Worker 0] randomize_scene: Setting poses for 94 objects [json_eval_task_sampler.py: 686] +05/27 00:58:05 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 00:58:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 00:58:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 00:58:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 00:58:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 00:58:05 INFO: [Worker 0] Sampled task 'Pick up the dark spiked mace and place it next to the round brown bread' [task_sampler.py: 1136] +05/27 00:58:05 INFO: [Worker 0] Worker 0 house 2374 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 00:58:05 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 01:16:41 INFO: [Worker 0] Worker 0 house 2374 episode 0 object objamace_8bf2eabaaf7f4ee09641ae6fec234644_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 01:16:45 INFO: [Worker 0] Batching and saving trajectory data for house_2374: 1 episodes [pipeline.py: 233] +05/27 01:16:45 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 01:16:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 01:16:47 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2374 [save_utils.py: 703] +05/27 01:16:47 INFO: [Worker 0] Successfully saved trajectory data for house_2374 in 2.81s (batch: 2.72s, save: 0.09s) [pipeline.py: 280] +05/27 01:16:48 WARNING: [Worker 0] No trajectory data to save for house_2374 [pipeline.py: 229] +05/27 01:16:48 INFO: [Worker 0] Worker 0 completed house 2374: 0/1 successful episodes [pipeline.py: 1243] +05/27 01:16:48 INFO: [Worker 0] Worker 0 starting house 2475 (index 22/115) [pipeline.py: 473] +05/27 01:16:48 INFO: [Worker 0] Loaded 1 episodes for house 2475 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 01:16:48 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 01:16:51 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2475_ceiling.xml [task_sampler.py: 797] +05/27 01:16:51 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2475, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 01:16:51 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 01:16:51 INFO: [Worker 0] randomize_scene: Setting poses for 37 objects [json_eval_task_sampler.py: 686] +05/27 01:16:51 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 01:16:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 01:16:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 01:16:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 01:16:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 01:16:51 INFO: [Worker 0] Sampled task 'Pick up the polygon and place it next to the terracotta molding' [task_sampler.py: 1136] +05/27 01:16:51 INFO: [Worker 0] Worker 0 house 2475 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 01:16:51 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 01:18:27 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 01:27:08 INFO: [Worker 0] Worker 0 house 2475 episode 0 object objadecorativewedge_6c209105d3fe4d7db6a3520ceb255e96_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 01:27:11 INFO: [Worker 0] Batching and saving trajectory data for house_2475: 1 episodes [pipeline.py: 233] +05/27 01:27:11 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 01:27:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 01:27:14 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2475 [save_utils.py: 703] +05/27 01:27:14 INFO: [Worker 0] Successfully saved trajectory data for house_2475 in 2.34s (batch: 2.25s, save: 0.09s) [pipeline.py: 280] +05/27 01:27:14 WARNING: [Worker 0] No trajectory data to save for house_2475 [pipeline.py: 229] +05/27 01:27:14 INFO: [Worker 0] Worker 0 completed house 2475: 0/1 successful episodes [pipeline.py: 1243] +05/27 01:27:14 INFO: [Worker 0] Worker 0 starting house 2537 (index 23/115) [pipeline.py: 473] +05/27 01:27:14 INFO: [Worker 0] Loaded 1 episodes for house 2537 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 01:27:14 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 01:27:15 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/27 01:27:18 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2537_ceiling.xml [task_sampler.py: 797] +05/27 01:27:18 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2537, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 01:27:18 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 01:27:18 INFO: [Worker 0] randomize_scene: Setting poses for 47 objects [json_eval_task_sampler.py: 686] +05/27 01:27:18 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 01:27:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 01:27:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 01:27:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 01:27:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 01:27:18 INFO: [Worker 0] Sampled task 'Pick up the burnt white candle and place it next to the colorful puzzle cube' [task_sampler.py: 1136] +05/27 01:27:18 INFO: [Worker 0] Worker 0 house 2537 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 01:27:18 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 01:27:18 WARNING: [Worker 0] Could not find object objawasher_5b84965c8c494251b103c5b9e8d5692a_1_0_5 in scene [object_manager.py: 1238] +05/27 01:27:18 WARNING: [Worker 0] Could not find object objaaerosolcan_b6b64dc8ae6049dbba19ae2cef3575bb_1_0_5 in scene [object_manager.py: 1238] +05/27 01:27:18 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_9 in scene [object_manager.py: 1238] +05/27 01:28:55 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 01:39:55 INFO: [Worker 0] Worker 0 house 2537 episode 0 object objacandle_464b8c40369549e98243c274e894bd4b_1_0_9 completed with success=False [pipeline.py: 1114] +05/27 01:39:59 INFO: [Worker 0] Batching and saving trajectory data for house_2537: 1 episodes [pipeline.py: 233] +05/27 01:39:59 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 01:40:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 01:40:02 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2537 [save_utils.py: 703] +05/27 01:40:02 INFO: [Worker 0] Successfully saved trajectory data for house_2537 in 2.80s (batch: 2.71s, save: 0.09s) [pipeline.py: 280] +05/27 01:40:02 WARNING: [Worker 0] No trajectory data to save for house_2537 [pipeline.py: 229] +05/27 01:40:02 INFO: [Worker 0] Worker 0 completed house 2537: 0/1 successful episodes [pipeline.py: 1243] +05/27 01:40:02 INFO: [Worker 0] Worker 0 starting house 2678 (index 24/115) [pipeline.py: 473] +05/27 01:40:02 INFO: [Worker 0] Loaded 1 episodes for house 2678 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 01:40:02 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 01:40:07 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2678_ceiling.xml [task_sampler.py: 797] +05/27 01:40:07 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2678, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 01:40:07 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 01:40:07 INFO: [Worker 0] randomize_scene: Setting poses for 71 objects [json_eval_task_sampler.py: 686] +05/27 01:40:07 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 01:40:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 01:40:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 01:40:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 01:40:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 01:40:07 INFO: [Worker 0] Sampled task 'Pick up the vintage black camera with lens and place it next to the polished silver-gray metal vase' [task_sampler.py: 1136] +05/27 01:40:07 INFO: [Worker 0] Worker 0 house 2678 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 01:40:07 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 01:56:32 INFO: [Worker 0] Worker 0 house 2678 episode 0 object objacamera_6e9951dd41be4ae5b98a3e1857b94671_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 01:56:35 INFO: [Worker 0] Batching and saving trajectory data for house_2678: 1 episodes [pipeline.py: 233] +05/27 01:56:35 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 01:56:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 01:56:38 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2678 [save_utils.py: 703] +05/27 01:56:38 INFO: [Worker 0] Successfully saved trajectory data for house_2678 in 2.76s (batch: 2.67s, save: 0.09s) [pipeline.py: 280] +05/27 01:56:39 WARNING: [Worker 0] No trajectory data to save for house_2678 [pipeline.py: 229] +05/27 01:56:39 INFO: [Worker 0] Worker 0 completed house 2678: 0/1 successful episodes [pipeline.py: 1243] +05/27 01:56:39 INFO: [Worker 0] Worker 0 starting house 2800 (index 25/115) [pipeline.py: 473] +05/27 01:56:39 INFO: [Worker 0] Loaded 1 episodes for house 2800 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 01:56:39 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 01:57:07 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2800_ceiling.xml [task_sampler.py: 797] +05/27 01:57:07 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2800, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 01:57:07 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 01:57:07 INFO: [Worker 0] randomize_scene: Setting poses for 41 objects [json_eval_task_sampler.py: 686] +05/27 01:57:07 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 01:57:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 01:57:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 01:57:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 01:57:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 01:57:07 INFO: [Worker 0] Sampled task 'Pick up the jagged white marble piece with veins and place it next to the soapdispenser' [task_sampler.py: 1136] +05/27 01:57:07 INFO: [Worker 0] Worker 0 house 2800 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 01:57:07 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 01:58:45 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 02:05:54 INFO: [Worker 0] Worker 0 house 2800 episode 0 object objamarblesculpture_969d17f91b324a6c9e0b1d1f649a1463_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 02:05:58 INFO: [Worker 0] Batching and saving trajectory data for house_2800: 1 episodes [pipeline.py: 233] +05/27 02:05:58 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 02:06:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 02:06:01 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2800 [save_utils.py: 703] +05/27 02:06:01 INFO: [Worker 0] Successfully saved trajectory data for house_2800 in 2.89s (batch: 2.80s, save: 0.09s) [pipeline.py: 280] +05/27 02:06:02 WARNING: [Worker 0] No trajectory data to save for house_2800 [pipeline.py: 229] +05/27 02:06:02 INFO: [Worker 0] Worker 0 completed house 2800: 0/1 successful episodes [pipeline.py: 1243] +05/27 02:06:02 INFO: [Worker 0] Worker 0 starting house 2873 (index 26/115) [pipeline.py: 473] +05/27 02:06:02 INFO: [Worker 0] Loaded 1 episodes for house 2873 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 02:06:02 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 02:06:35 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2873_ceiling.xml [task_sampler.py: 797] +05/27 02:06:35 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2873, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 02:06:35 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 02:06:35 INFO: [Worker 0] randomize_scene: Setting poses for 43 objects [json_eval_task_sampler.py: 686] +05/27 02:06:35 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 02:06:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 02:06:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 02:06:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 02:06:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 02:06:35 INFO: [Worker 0] Sampled task 'Pick up the brown animal statuette and place it next to the radio link' [task_sampler.py: 1136] +05/27 02:06:35 INFO: [Worker 0] Worker 0 house 2873 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 02:06:35 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 02:08:11 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 02:19:42 INFO: [Worker 0] Worker 0 house 2873 episode 0 object objastatuette_c02a6cb0ecd141669ce2dfed1e31a126_1_0_4 completed with success=False [pipeline.py: 1114] +05/27 02:19:45 INFO: [Worker 0] Batching and saving trajectory data for house_2873: 1 episodes [pipeline.py: 233] +05/27 02:19:45 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 02:19:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 02:19:48 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2873 [save_utils.py: 703] +05/27 02:19:48 INFO: [Worker 0] Successfully saved trajectory data for house_2873 in 2.30s (batch: 2.21s, save: 0.09s) [pipeline.py: 280] +05/27 02:19:48 WARNING: [Worker 0] No trajectory data to save for house_2873 [pipeline.py: 229] +05/27 02:19:48 INFO: [Worker 0] Worker 0 completed house 2873: 0/1 successful episodes [pipeline.py: 1243] +05/27 02:19:48 INFO: [Worker 0] Worker 0 starting house 2970 (index 27/115) [pipeline.py: 473] +05/27 02:19:48 INFO: [Worker 0] Loaded 1 episodes for house 2970 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 02:19:48 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 02:19:53 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2970_ceiling.xml [task_sampler.py: 797] +05/27 02:19:53 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2970, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 02:19:53 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 02:19:53 INFO: [Worker 0] randomize_scene: Setting poses for 71 objects [json_eval_task_sampler.py: 686] +05/27 02:19:53 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 02:19:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 02:19:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 02:19:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 02:19:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 02:19:53 INFO: [Worker 0] Sampled task 'Pick up the fantasy hammer and place it next to the olive scalloped ceramic plate' [task_sampler.py: 1136] +05/27 02:19:53 INFO: [Worker 0] Worker 0 house 2970 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 02:19:53 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 02:19:53 WARNING: [Worker 0] Could not find object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_5 in scene [object_manager.py: 1238] +05/27 02:19:53 WARNING: [Worker 0] Could not find object objafaceplate_521c117e4216443f9cb116f01483a230_1_0_7 in scene [object_manager.py: 1238] +05/27 02:19:53 WARNING: [Worker 0] Could not find object objaguitareffectspedal_083eb9b9eb564701820d3a79377c77ce_1_0_7 in scene [object_manager.py: 1238] +05/27 02:21:29 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 02:34:29 INFO: [Worker 0] Worker 0 house 2970 episode 0 object objafantasyhammer_ee13a88b5c134317b0b1da1d14403ddd_1_0_8 completed with success=False [pipeline.py: 1114] +05/27 02:34:32 INFO: [Worker 0] Batching and saving trajectory data for house_2970: 1 episodes [pipeline.py: 233] +05/27 02:34:32 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 02:34:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 02:34:35 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2970 [save_utils.py: 703] +05/27 02:34:35 INFO: [Worker 0] Successfully saved trajectory data for house_2970 in 2.45s (batch: 2.36s, save: 0.09s) [pipeline.py: 280] +05/27 02:34:35 WARNING: [Worker 0] No trajectory data to save for house_2970 [pipeline.py: 229] +05/27 02:34:35 INFO: [Worker 0] Worker 0 completed house 2970: 0/1 successful episodes [pipeline.py: 1243] +05/27 02:34:35 INFO: [Worker 0] Worker 0 starting house 3062 (index 28/115) [pipeline.py: 473] +05/27 02:34:35 INFO: [Worker 0] Loaded 2 episodes for house 3062 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 02:34:35 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 02:34:41 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3062_ceiling.xml [task_sampler.py: 797] +05/27 02:34:41 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3062, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 02:34:41 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 02:34:41 INFO: [Worker 0] randomize_scene: Setting poses for 79 objects [json_eval_task_sampler.py: 686] +05/27 02:34:41 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 02:34:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 02:34:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 02:34:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 02:34:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 02:34:41 INFO: [Worker 0] Sampled task 'Pick up the sportsshoe and place it next to the red lighthouse' [task_sampler.py: 1136] +05/27 02:34:41 INFO: [Worker 0] Worker 0 house 3062 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/27 02:34:41 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 02:34:41 WARNING: [Worker 0] Could not find object objaadhesivetape_55b9776915594b80a4b1a1a8c20dcdb6_1_0_8 in scene [object_manager.py: 1238] +05/27 02:34:41 WARNING: [Worker 0] Could not find object soapdispenser_116f2e48d98aa5352b25743c587e8255_1_0_8 in scene [object_manager.py: 1238] +05/27 02:52:11 INFO: [Worker 0] Worker 0 house 3062 episode 0 object objasportsshoe_6b4506025d2e4c38bf943c377e53a82b_1_0_5 completed with success=False [pipeline.py: 1114] +05/27 02:52:14 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 02:52:19 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3062_ceiling.xml [task_sampler.py: 797] +05/27 02:52:19 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3062, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 02:52:19 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 02:52:19 INFO: [Worker 0] randomize_scene: Setting poses for 79 objects [json_eval_task_sampler.py: 686] +05/27 02:52:19 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 02:52:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 02:52:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 02:52:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 02:52:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 02:52:19 INFO: [Worker 0] Sampled task 'Pick up the munition and place it next to the rustic wooden corbel support' [task_sampler.py: 1136] +05/27 02:52:19 INFO: [Worker 0] Worker 0 house 3062 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/27 02:52:19 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 02:52:20 WARNING: [Worker 0] Could not find object objaadhesivetape_55b9776915594b80a4b1a1a8c20dcdb6_1_0_8 in scene [object_manager.py: 1238] +05/27 02:52:20 WARNING: [Worker 0] Could not find object soapdispenser_116f2e48d98aa5352b25743c587e8255_1_0_8 in scene [object_manager.py: 1238] +05/27 02:53:59 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 03:09:37 INFO: [Worker 0] Worker 0 house 3062 episode 1 object objaexplosivedevice_6d333be39e454b458d48ad86f8a78df4_1_0_4 completed with success=False [pipeline.py: 1114] +05/27 03:09:41 INFO: [Worker 0] Batching and saving trajectory data for house_3062: 2 episodes [pipeline.py: 233] +05/27 03:09:41 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 03:09:43 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 03:09:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 03:09:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 03:09:46 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3062 [save_utils.py: 703] +05/27 03:09:46 INFO: [Worker 0] Successfully saved trajectory data for house_3062 in 5.68s (batch: 5.50s, save: 0.17s) [pipeline.py: 280] +05/27 03:09:47 WARNING: [Worker 0] No trajectory data to save for house_3062 [pipeline.py: 229] +05/27 03:09:47 INFO: [Worker 0] Worker 0 completed house 3062: 0/2 successful episodes [pipeline.py: 1243] +05/27 03:09:47 INFO: [Worker 0] Worker 0 starting house 3095 (index 29/115) [pipeline.py: 473] +05/27 03:09:47 INFO: [Worker 0] Loaded 1 episodes for house 3095 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 03:09:47 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 03:09:56 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3095_ceiling.xml [task_sampler.py: 797] +05/27 03:09:56 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3095, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 03:09:56 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 03:09:56 INFO: [Worker 0] randomize_scene: Setting poses for 28 objects [json_eval_task_sampler.py: 686] +05/27 03:09:56 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 03:09:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 03:09:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 03:09:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 03:09:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 03:09:56 INFO: [Worker 0] Sampled task 'Pick up the worn vintage gameboy console and place it next to the blue book' [task_sampler.py: 1136] +05/27 03:09:56 INFO: [Worker 0] Worker 0 house 3095 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 03:09:56 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 03:11:35 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 03:19:21 INFO: [Worker 0] Worker 0 house 3095 episode 0 object objahandheldgameconsole_021b1586089044278164dadc584abb89_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 03:19:25 INFO: [Worker 0] Batching and saving trajectory data for house_3095: 1 episodes [pipeline.py: 233] +05/27 03:19:25 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 03:19:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 03:19:27 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3095 [save_utils.py: 703] +05/27 03:19:27 INFO: [Worker 0] Successfully saved trajectory data for house_3095 in 2.72s (batch: 2.63s, save: 0.09s) [pipeline.py: 280] +05/27 03:19:28 WARNING: [Worker 0] No trajectory data to save for house_3095 [pipeline.py: 229] +05/27 03:19:28 INFO: [Worker 0] Worker 0 completed house 3095: 0/1 successful episodes [pipeline.py: 1243] +05/27 03:19:28 INFO: [Worker 0] Worker 0 starting house 3208 (index 30/115) [pipeline.py: 473] +05/27 03:19:28 INFO: [Worker 0] Loaded 1 episodes for house 3208 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 03:19:28 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 03:19:35 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3208_ceiling.xml [task_sampler.py: 797] +05/27 03:19:35 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3208, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 03:19:35 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 03:19:35 INFO: [Worker 0] randomize_scene: Setting poses for 44 objects [json_eval_task_sampler.py: 686] +05/27 03:19:35 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 03:19:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 03:19:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 03:19:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 03:19:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 03:19:35 INFO: [Worker 0] Sampled task 'Pick up the long colorful strip with texture and place it next to the ornate silver and gold gavel' [task_sampler.py: 1136] +05/27 03:19:35 INFO: [Worker 0] Worker 0 house 3208 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 03:19:35 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 03:21:12 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 03:31:03 INFO: [Worker 0] Worker 0 house 3208 episode 0 object objadecorativetrim_f8312d4b1883445ea7fd521a4504fde3_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 03:31:07 INFO: [Worker 0] Batching and saving trajectory data for house_3208: 1 episodes [pipeline.py: 233] +05/27 03:31:07 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 03:31:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 03:31:10 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3208 [save_utils.py: 703] +05/27 03:31:10 INFO: [Worker 0] Successfully saved trajectory data for house_3208 in 2.77s (batch: 2.68s, save: 0.09s) [pipeline.py: 280] +05/27 03:31:11 WARNING: [Worker 0] No trajectory data to save for house_3208 [pipeline.py: 229] +05/27 03:31:11 INFO: [Worker 0] Worker 0 completed house 3208: 0/1 successful episodes [pipeline.py: 1243] +05/27 03:31:11 INFO: [Worker 0] Worker 0 starting house 3263 (index 31/115) [pipeline.py: 473] +05/27 03:31:11 INFO: [Worker 0] Loaded 1 episodes for house 3263 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 03:31:11 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 03:31:31 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3263_ceiling.xml [task_sampler.py: 797] +05/27 03:31:31 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3263, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 03:31:31 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 03:31:31 INFO: [Worker 0] randomize_scene: Setting poses for 81 objects [json_eval_task_sampler.py: 686] +05/27 03:31:31 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 03:31:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 03:31:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 03:31:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 03:31:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 03:31:31 INFO: [Worker 0] Sampled task 'Pick up the vintage metallic camera with floral engravings and place it next to the oval brown potato' [task_sampler.py: 1136] +05/27 03:31:31 INFO: [Worker 0] Worker 0 house 3263 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 03:31:31 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 03:33:09 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 03:42:38 INFO: [Worker 0] Worker 0 house 3263 episode 0 object objacamera_966235cef3f34f40aa8bd19063c6c411_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 03:42:42 INFO: [Worker 0] Batching and saving trajectory data for house_3263: 1 episodes [pipeline.py: 233] +05/27 03:42:42 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 03:42:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 03:42:44 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3263 [save_utils.py: 703] +05/27 03:42:44 INFO: [Worker 0] Successfully saved trajectory data for house_3263 in 2.78s (batch: 2.69s, save: 0.09s) [pipeline.py: 280] +05/27 03:42:45 WARNING: [Worker 0] No trajectory data to save for house_3263 [pipeline.py: 229] +05/27 03:42:45 INFO: [Worker 0] Worker 0 completed house 3263: 0/1 successful episodes [pipeline.py: 1243] +05/27 03:42:45 INFO: [Worker 0] Worker 0 starting house 3300 (index 32/115) [pipeline.py: 473] +05/27 03:42:45 INFO: [Worker 0] Loaded 1 episodes for house 3300 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 03:42:45 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 03:42:55 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3300_ceiling.xml [task_sampler.py: 797] +05/27 03:42:55 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3300, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 03:42:55 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 03:42:55 INFO: [Worker 0] randomize_scene: Setting poses for 110 objects [json_eval_task_sampler.py: 686] +05/27 03:42:55 WARNING: [Worker 0] Not setting joint of [json_eval_task_sampler.py: 441] +05/27 03:42:55 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 03:42:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 03:42:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 03:42:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 03:42:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 03:42:55 INFO: [Worker 0] Sampled task 'Pick up the open brown cardboard box packaging and place it next to the vintage blue twin-bell alarm clock' [task_sampler.py: 1136] +05/27 03:42:55 INFO: [Worker 0] Worker 0 house 3300 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 03:42:55 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 04:05:01 INFO: [Worker 0] Worker 0 house 3300 episode 0 object box_5358700257a2427d72759d135597dc51_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 04:05:05 INFO: [Worker 0] Batching and saving trajectory data for house_3300: 1 episodes [pipeline.py: 233] +05/27 04:05:05 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 04:05:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 04:05:07 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3300 [save_utils.py: 703] +05/27 04:05:07 INFO: [Worker 0] Successfully saved trajectory data for house_3300 in 2.29s (batch: 2.20s, save: 0.09s) [pipeline.py: 280] +05/27 04:05:07 WARNING: [Worker 0] No trajectory data to save for house_3300 [pipeline.py: 229] +05/27 04:05:07 INFO: [Worker 0] Worker 0 completed house 3300: 0/1 successful episodes [pipeline.py: 1243] +05/27 04:05:07 INFO: [Worker 0] Worker 0 starting house 3390 (index 33/115) [pipeline.py: 473] +05/27 04:05:07 INFO: [Worker 0] Loaded 1 episodes for house 3390 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 04:05:07 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 04:05:12 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3390_ceiling.xml [task_sampler.py: 797] +05/27 04:05:12 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3390, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 04:05:12 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 04:05:12 INFO: [Worker 0] randomize_scene: Setting poses for 61 objects [json_eval_task_sampler.py: 686] +05/27 04:05:12 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 04:05:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 04:05:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 04:05:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 04:05:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 04:05:12 INFO: [Worker 0] Sampled task 'Pick up the white rectangular electrical connector and place it next to the blue soap bottle with golden pump' [task_sampler.py: 1136] +05/27 04:05:12 INFO: [Worker 0] Worker 0 house 3390 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 04:05:12 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 04:05:12 WARNING: [Worker 0] Could not find object objaearring_4e81a083ae304ff4a9fe0cf50a3afd50_1_0_8 in scene [object_manager.py: 1238] +05/27 04:06:54 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 04:12:10 INFO: [Worker 0] Worker 0 house 3390 episode 0 object objaelectricalconnector_dbdf5d0c07ab4d7ca8814ef57c537dd9_1_0_8 completed with success=False [pipeline.py: 1114] +05/27 04:12:14 INFO: [Worker 0] Batching and saving trajectory data for house_3390: 1 episodes [pipeline.py: 233] +05/27 04:12:14 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 04:12:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 04:12:17 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3390 [save_utils.py: 703] +05/27 04:12:17 INFO: [Worker 0] Successfully saved trajectory data for house_3390 in 2.90s (batch: 2.79s, save: 0.11s) [pipeline.py: 280] +05/27 04:12:18 WARNING: [Worker 0] No trajectory data to save for house_3390 [pipeline.py: 229] +05/27 04:12:18 INFO: [Worker 0] Worker 0 completed house 3390: 0/1 successful episodes [pipeline.py: 1243] +05/27 04:12:18 INFO: [Worker 0] Worker 0 starting house 3450 (index 34/115) [pipeline.py: 473] +05/27 04:12:18 INFO: [Worker 0] Loaded 1 episodes for house 3450 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 04:12:18 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 04:12:21 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3450_ceiling.xml [task_sampler.py: 797] +05/27 04:12:21 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3450, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 04:12:21 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 04:12:21 INFO: [Worker 0] randomize_scene: Setting poses for 34 objects [json_eval_task_sampler.py: 686] +05/27 04:12:21 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 04:12:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 04:12:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 04:12:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 04:12:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 04:12:21 INFO: [Worker 0] Sampled task 'Pick up the yellow kitchen knife with blade and place it next to the soapdispenser' [task_sampler.py: 1136] +05/27 04:12:21 INFO: [Worker 0] Worker 0 house 3450 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 04:12:21 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 04:13:58 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 04:21:16 INFO: [Worker 0] Worker 0 house 3450 episode 0 object knife_7db4ef03593a98cc5b883c623dde8d9f_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 04:21:20 INFO: [Worker 0] Batching and saving trajectory data for house_3450: 1 episodes [pipeline.py: 233] +05/27 04:21:20 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 04:21:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 04:21:23 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3450 [save_utils.py: 703] +05/27 04:21:23 INFO: [Worker 0] Successfully saved trajectory data for house_3450 in 2.82s (batch: 2.73s, save: 0.09s) [pipeline.py: 280] +05/27 04:21:23 WARNING: [Worker 0] No trajectory data to save for house_3450 [pipeline.py: 229] +05/27 04:21:23 INFO: [Worker 0] Worker 0 completed house 3450: 0/1 successful episodes [pipeline.py: 1243] +05/27 04:21:23 INFO: [Worker 0] Worker 0 starting house 3529 (index 35/115) [pipeline.py: 473] +05/27 04:21:23 INFO: [Worker 0] Loaded 1 episodes for house 3529 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 04:21:23 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 04:21:29 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3529_ceiling.xml [task_sampler.py: 797] +05/27 04:21:29 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3529, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 04:21:29 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 04:21:29 INFO: [Worker 0] randomize_scene: Setting poses for 78 objects [json_eval_task_sampler.py: 686] +05/27 04:21:29 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 04:21:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 04:21:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 04:21:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 04:21:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 04:21:29 INFO: [Worker 0] Sampled task 'Pick up the dark metal frying pan and place it next to the bulbous shiny gold metallic vase' [task_sampler.py: 1136] +05/27 04:21:29 INFO: [Worker 0] Worker 0 house 3529 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 04:21:29 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 04:23:06 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 04:37:59 INFO: [Worker 0] Worker 0 house 3529 episode 0 object cookingpan_7d858738a424e980049e4c1d86d8d3a5_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 04:38:02 INFO: [Worker 0] Batching and saving trajectory data for house_3529: 1 episodes [pipeline.py: 233] +05/27 04:38:02 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 04:38:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 04:38:05 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3529 [save_utils.py: 703] +05/27 04:38:05 INFO: [Worker 0] Successfully saved trajectory data for house_3529 in 2.69s (batch: 2.60s, save: 0.09s) [pipeline.py: 280] +05/27 04:38:06 WARNING: [Worker 0] No trajectory data to save for house_3529 [pipeline.py: 229] +05/27 04:38:06 INFO: [Worker 0] Worker 0 completed house 3529: 0/1 successful episodes [pipeline.py: 1243] +05/27 04:38:06 INFO: [Worker 0] Worker 0 starting house 3635 (index 36/115) [pipeline.py: 473] +05/27 04:38:06 INFO: [Worker 0] Loaded 1 episodes for house 3635 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 04:38:06 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 04:38:15 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3635_ceiling.xml [task_sampler.py: 797] +05/27 04:38:15 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3635, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 04:38:15 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 04:38:15 INFO: [Worker 0] randomize_scene: Setting poses for 115 objects [json_eval_task_sampler.py: 686] +05/27 04:38:15 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 04:38:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 04:38:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 04:38:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 04:38:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 04:38:15 INFO: [Worker 0] Sampled task 'Pick up the metal clamp with orange grips and place it next to the gray bird' [task_sampler.py: 1136] +05/27 04:38:15 INFO: [Worker 0] Worker 0 house 3635 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 04:38:15 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 04:38:15 WARNING: [Worker 0] Could not find object objadecorativelighthouse_e8bb24878c544adcb484f431f4c9790e_1_0_5 in scene [object_manager.py: 1238] +05/27 04:38:15 WARNING: [Worker 0] Could not find object objawasher_43e7ebcba34645448a997c3d03054d33_1_0_5 in scene [object_manager.py: 1238] +05/27 04:38:15 WARNING: [Worker 0] Could not find object objamodeltower_f5b9396794dc4bc7882aeb32a400da98_1_0_9 in scene [object_manager.py: 1238] +05/27 04:38:15 WARNING: [Worker 0] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_9 in scene [object_manager.py: 1238] +05/27 04:58:06 INFO: [Worker 0] Worker 0 house 3635 episode 0 object objaspringclamp_a548ac5c9d014c83afed99f47f0eb118_1_0_3 completed with success=False [pipeline.py: 1114] +05/27 04:58:10 INFO: [Worker 0] Batching and saving trajectory data for house_3635: 1 episodes [pipeline.py: 233] +05/27 04:58:10 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 04:58:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 04:58:13 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3635 [save_utils.py: 703] +05/27 04:58:13 INFO: [Worker 0] Successfully saved trajectory data for house_3635 in 2.76s (batch: 2.67s, save: 0.09s) [pipeline.py: 280] +05/27 04:58:14 WARNING: [Worker 0] No trajectory data to save for house_3635 [pipeline.py: 229] +05/27 04:58:14 INFO: [Worker 0] Worker 0 completed house 3635: 0/1 successful episodes [pipeline.py: 1243] +05/27 04:58:14 INFO: [Worker 0] Worker 0 starting house 3742 (index 37/115) [pipeline.py: 473] +05/27 04:58:14 INFO: [Worker 0] Loaded 1 episodes for house 3742 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 04:58:14 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 04:58:16 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3742_ceiling.xml [task_sampler.py: 797] +05/27 04:58:16 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3742, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 04:58:16 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 04:58:16 INFO: [Worker 0] randomize_scene: Setting poses for 26 objects [json_eval_task_sampler.py: 686] +05/27 04:58:16 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 04:58:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 04:58:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 04:58:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 04:58:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 04:58:16 INFO: [Worker 0] Sampled task 'Pick up the blue handheld device with cylindrical barrel and place it next to the green lettuce' [task_sampler.py: 1136] +05/27 04:58:16 INFO: [Worker 0] Worker 0 house 3742 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 04:58:16 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 04:59:52 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 05:07:12 INFO: [Worker 0] Worker 0 house 3742 episode 0 object objatool_7fbf9a210de74910b0ab4bbe740fce1c_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 05:07:15 INFO: [Worker 0] Batching and saving trajectory data for house_3742: 1 episodes [pipeline.py: 233] +05/27 05:07:15 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 05:07:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 05:07:18 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3742 [save_utils.py: 703] +05/27 05:07:18 INFO: [Worker 0] Successfully saved trajectory data for house_3742 in 2.40s (batch: 2.31s, save: 0.09s) [pipeline.py: 280] +05/27 05:07:18 WARNING: [Worker 0] No trajectory data to save for house_3742 [pipeline.py: 229] +05/27 05:07:18 INFO: [Worker 0] Worker 0 completed house 3742: 0/1 successful episodes [pipeline.py: 1243] +05/27 05:07:18 INFO: [Worker 0] Worker 0 starting house 3790 (index 38/115) [pipeline.py: 473] +05/27 05:07:18 INFO: [Worker 0] Loaded 1 episodes for house 3790 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 05:07:18 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 05:07:23 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3790_ceiling.xml [task_sampler.py: 797] +05/27 05:07:23 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3790, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 05:07:23 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 05:07:23 INFO: [Worker 0] randomize_scene: Setting poses for 60 objects [json_eval_task_sampler.py: 686] +05/27 05:07:23 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 05:07:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 05:07:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 05:07:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 05:07:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 05:07:23 INFO: [Worker 0] Sampled task 'Pick up the realistic detailed ivory skull and place it next to the tall dark gray decorative pillow' [task_sampler.py: 1136] +05/27 05:07:23 INFO: [Worker 0] Worker 0 house 3790 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 05:07:23 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 05:07:23 WARNING: [Worker 0] Could not find object objanoveltyaxe_fdade657c4cc47ad96cf428fc10b3120_1_0_6 in scene [object_manager.py: 1238] +05/27 05:07:23 WARNING: [Worker 0] Could not find object bowl_8f6844832379a39c0316319c38fb1803_1_0_6 in scene [object_manager.py: 1238] +05/27 05:09:03 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 05:16:02 INFO: [Worker 0] Worker 0 house 3790 episode 0 object objaskullmodel_3550b1feb37745b6a6dbec510ccb740b_1_0_4 completed with success=False [pipeline.py: 1114] +05/27 05:16:06 INFO: [Worker 0] Batching and saving trajectory data for house_3790: 1 episodes [pipeline.py: 233] +05/27 05:16:06 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 05:16:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 05:16:09 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3790 [save_utils.py: 703] +05/27 05:16:09 INFO: [Worker 0] Successfully saved trajectory data for house_3790 in 2.84s (batch: 2.75s, save: 0.09s) [pipeline.py: 280] +05/27 05:16:10 WARNING: [Worker 0] No trajectory data to save for house_3790 [pipeline.py: 229] +05/27 05:16:10 INFO: [Worker 0] Worker 0 completed house 3790: 0/1 successful episodes [pipeline.py: 1243] +05/27 05:16:10 INFO: [Worker 0] Worker 0 starting house 3918 (index 39/115) [pipeline.py: 473] +05/27 05:16:10 INFO: [Worker 0] Loaded 1 episodes for house 3918 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 05:16:10 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 05:16:13 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3918_ceiling.xml [task_sampler.py: 797] +05/27 05:16:13 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3918, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 05:16:13 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 05:16:13 INFO: [Worker 0] randomize_scene: Setting poses for 48 objects [json_eval_task_sampler.py: 686] +05/27 05:16:13 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 05:16:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 05:16:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 05:16:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 05:16:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 05:16:13 INFO: [Worker 0] Sampled task 'Pick up the candle and place it next to the dark green matte suppressor device' [task_sampler.py: 1136] +05/27 05:16:13 INFO: [Worker 0] Worker 0 house 3918 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 05:16:13 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 05:16:13 WARNING: [Worker 0] Could not find object objasponge_f21d15e2964648989a80c23bfa0b932c_1_0_5 in scene [object_manager.py: 1238] +05/27 05:16:13 WARNING: [Worker 0] Could not find object objaspraycan_f761c777f54e414dba0b54dbab6453c7_1_0_5 in scene [object_manager.py: 1238] +05/27 05:29:36 INFO: [Worker 0] Worker 0 house 3918 episode 0 object candle_ef48126e155d4ed0804b46d4b3a42ca2_1_0_9 completed with success=False [pipeline.py: 1114] +05/27 05:29:40 INFO: [Worker 0] Batching and saving trajectory data for house_3918: 1 episodes [pipeline.py: 233] +05/27 05:29:40 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 05:29:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 05:29:42 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3918 [save_utils.py: 703] +05/27 05:29:42 INFO: [Worker 0] Successfully saved trajectory data for house_3918 in 2.77s (batch: 2.68s, save: 0.09s) [pipeline.py: 280] +05/27 05:29:43 WARNING: [Worker 0] No trajectory data to save for house_3918 [pipeline.py: 229] +05/27 05:29:43 INFO: [Worker 0] Worker 0 completed house 3918: 0/1 successful episodes [pipeline.py: 1243] +05/27 05:29:43 INFO: [Worker 0] Worker 0 starting house 4041 (index 40/115) [pipeline.py: 473] +05/27 05:29:43 INFO: [Worker 0] Loaded 1 episodes for house 4041 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 05:29:43 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 05:29:45 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4041_ceiling.xml [task_sampler.py: 797] +05/27 05:29:45 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4041, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 05:29:45 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 05:29:45 INFO: [Worker 0] randomize_scene: Setting poses for 25 objects [json_eval_task_sampler.py: 686] +05/27 05:29:45 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 05:29:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 05:29:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 05:29:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 05:29:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 05:29:45 INFO: [Worker 0] Sampled task 'Pick up the yellow kitchen knife with sharp blade and place it next to the human hand' [task_sampler.py: 1136] +05/27 05:29:45 INFO: [Worker 0] Worker 0 house 4041 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 05:29:45 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 05:29:45 WARNING: [Worker 0] Could not find object apple_523cec3bd66eec1b41ffd2506874d275_1_0_2 in scene [object_manager.py: 1238] +05/27 05:31:25 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 05:38:01 INFO: [Worker 0] Worker 0 house 4041 episode 0 object knife_0bc93f198121d33ac4030a34bfc944a4_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 05:38:05 INFO: [Worker 0] Batching and saving trajectory data for house_4041: 1 episodes [pipeline.py: 233] +05/27 05:38:05 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 05:38:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 05:38:08 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4041 [save_utils.py: 703] +05/27 05:38:08 INFO: [Worker 0] Successfully saved trajectory data for house_4041 in 2.76s (batch: 2.67s, save: 0.09s) [pipeline.py: 280] +05/27 05:38:08 WARNING: [Worker 0] No trajectory data to save for house_4041 [pipeline.py: 229] +05/27 05:38:08 INFO: [Worker 0] Worker 0 completed house 4041: 0/1 successful episodes [pipeline.py: 1243] +05/27 05:38:08 INFO: [Worker 0] Worker 0 starting house 4145 (index 41/115) [pipeline.py: 473] +05/27 05:38:08 INFO: [Worker 0] Loaded 1 episodes for house 4145 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 05:38:08 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 05:38:11 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4145_ceiling.xml [task_sampler.py: 797] +05/27 05:38:11 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4145, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 05:38:11 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 05:38:11 INFO: [Worker 0] randomize_scene: Setting poses for 28 objects [json_eval_task_sampler.py: 686] +05/27 05:38:11 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 05:38:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 05:38:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 05:38:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 05:38:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 05:38:11 INFO: [Worker 0] Sampled task 'Pick up the blue vhs with horror design and place it next to the clear glass martini cup' [task_sampler.py: 1136] +05/27 05:38:11 INFO: [Worker 0] Worker 0 house 4145 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 05:38:11 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 05:39:49 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 05:46:00 INFO: [Worker 0] Worker 0 house 4145 episode 0 object objavhstape_dc3c4b3cc513486b87a9d5f7d344d132_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 05:46:04 INFO: [Worker 0] Batching and saving trajectory data for house_4145: 1 episodes [pipeline.py: 233] +05/27 05:46:04 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 05:46:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 05:46:07 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4145 [save_utils.py: 703] +05/27 05:46:07 INFO: [Worker 0] Successfully saved trajectory data for house_4145 in 2.76s (batch: 2.67s, save: 0.09s) [pipeline.py: 280] +05/27 05:46:07 WARNING: [Worker 0] No trajectory data to save for house_4145 [pipeline.py: 229] +05/27 05:46:07 INFO: [Worker 0] Worker 0 completed house 4145: 0/1 successful episodes [pipeline.py: 1243] +05/27 05:46:07 INFO: [Worker 0] Worker 0 starting house 4216 (index 42/115) [pipeline.py: 473] +05/27 05:46:07 INFO: [Worker 0] Loaded 1 episodes for house 4216 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 05:46:07 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 05:46:26 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4216_ceiling.xml [task_sampler.py: 797] +05/27 05:46:26 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4216, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 05:46:26 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 05:46:26 INFO: [Worker 0] randomize_scene: Setting poses for 74 objects [json_eval_task_sampler.py: 686] +05/27 05:46:26 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 05:46:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 05:46:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 05:46:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 05:46:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 05:46:26 INFO: [Worker 0] Sampled task 'Pick up the brown gourd seedpod and place it next to the wooden trophy with pink white emblem' [task_sampler.py: 1136] +05/27 05:46:26 INFO: [Worker 0] Worker 0 house 4216 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 05:46:26 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 05:48:06 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 05:55:37 INFO: [Worker 0] Worker 0 house 4216 episode 0 object objagourd_ecf826d7f2ba4486b7841f0536b72a4a_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 05:55:41 INFO: [Worker 0] Batching and saving trajectory data for house_4216: 1 episodes [pipeline.py: 233] +05/27 05:55:41 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 05:55:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 05:55:44 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4216 [save_utils.py: 703] +05/27 05:55:44 INFO: [Worker 0] Successfully saved trajectory data for house_4216 in 2.80s (batch: 2.71s, save: 0.09s) [pipeline.py: 280] +05/27 05:55:45 WARNING: [Worker 0] No trajectory data to save for house_4216 [pipeline.py: 229] +05/27 05:55:45 INFO: [Worker 0] Worker 0 completed house 4216: 0/1 successful episodes [pipeline.py: 1243] +05/27 05:55:45 INFO: [Worker 0] Worker 0 starting house 4240 (index 43/115) [pipeline.py: 473] +05/27 05:55:45 INFO: [Worker 0] Loaded 2 episodes for house 4240 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 05:55:45 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 05:55:50 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4240_ceiling.xml [task_sampler.py: 797] +05/27 05:55:50 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4240, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 05:55:50 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 05:55:50 INFO: [Worker 0] randomize_scene: Setting poses for 73 objects [json_eval_task_sampler.py: 686] +05/27 05:55:50 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 05:55:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 05:55:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 05:55:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 05:55:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 05:55:50 INFO: [Worker 0] Sampled task 'Pick up the black ribbed plastic cap and place it next to the purple rectangular shiny quilted pillow' [task_sampler.py: 1136] +05/27 05:55:50 INFO: [Worker 0] Worker 0 house 4240 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/27 05:55:50 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 05:55:50 WARNING: [Worker 0] Could not find object objadecorativesign_4550080e417a4e118eff3979d3b62874_1_0_7 in scene [object_manager.py: 1238] +05/27 06:12:41 INFO: [Worker 0] Worker 0 house 4240 episode 0 object objacap_3a40810c85cd4576af04b66e5a18e6a0_1_0_8 completed with success=False [pipeline.py: 1114] +05/27 06:12:45 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 06:12:51 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4240_ceiling.xml [task_sampler.py: 797] +05/27 06:12:51 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4240, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 06:12:51 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 06:12:51 INFO: [Worker 0] randomize_scene: Setting poses for 73 objects [json_eval_task_sampler.py: 686] +05/27 06:12:51 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 06:12:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 06:12:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 06:12:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 06:12:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 06:12:51 INFO: [Worker 0] Sampled task 'Pick up the green and yellow sponge and place it next to the tall transparent cup' [task_sampler.py: 1136] +05/27 06:12:51 INFO: [Worker 0] Worker 0 house 4240 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/27 06:12:51 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 06:12:51 WARNING: [Worker 0] Could not find object objadecorativesign_4550080e417a4e118eff3979d3b62874_1_0_7 in scene [object_manager.py: 1238] +05/27 06:14:32 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 06:29:11 INFO: [Worker 0] Worker 0 house 4240 episode 1 object objacleaningsponge_97aee64edf0c4521b82416f3b30c61ce_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 06:29:15 INFO: [Worker 0] Batching and saving trajectory data for house_4240: 2 episodes [pipeline.py: 233] +05/27 06:29:15 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 06:29:18 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 06:29:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 06:29:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 06:29:21 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4240 [save_utils.py: 703] +05/27 06:29:21 INFO: [Worker 0] Successfully saved trajectory data for house_4240 in 5.45s (batch: 5.29s, save: 0.17s) [pipeline.py: 280] +05/27 06:29:21 WARNING: [Worker 0] No trajectory data to save for house_4240 [pipeline.py: 229] +05/27 06:29:21 INFO: [Worker 0] Worker 0 completed house 4240: 0/2 successful episodes [pipeline.py: 1243] +05/27 06:29:21 INFO: [Worker 0] Worker 0 starting house 4291 (index 44/115) [pipeline.py: 473] +05/27 06:29:21 INFO: [Worker 0] Loaded 1 episodes for house 4291 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 06:29:21 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 06:29:26 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4291_ceiling.xml [task_sampler.py: 797] +05/27 06:29:26 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4291, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 06:29:26 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 06:29:26 INFO: [Worker 0] randomize_scene: Setting poses for 13 objects [json_eval_task_sampler.py: 686] +05/27 06:29:26 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 06:29:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 06:29:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 06:29:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 06:29:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 06:29:26 INFO: [Worker 0] Sampled task 'Pick up the gunsuppressor and place it next to the modern black toaster with metallic ridges' [task_sampler.py: 1136] +05/27 06:29:26 INFO: [Worker 0] Worker 0 house 4291 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 06:29:26 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 06:31:02 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 06:36:11 INFO: [Worker 0] Worker 0 house 4291 episode 0 object objagunsuppressor_9616f6013c204a49a9d90758f8e83faf_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 06:36:15 INFO: [Worker 0] Batching and saving trajectory data for house_4291: 1 episodes [pipeline.py: 233] +05/27 06:36:15 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 06:36:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 06:36:18 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4291 [save_utils.py: 703] +05/27 06:36:18 INFO: [Worker 0] Successfully saved trajectory data for house_4291 in 2.82s (batch: 2.73s, save: 0.09s) [pipeline.py: 280] +05/27 06:36:19 WARNING: [Worker 0] No trajectory data to save for house_4291 [pipeline.py: 229] +05/27 06:36:19 INFO: [Worker 0] Worker 0 completed house 4291: 0/1 successful episodes [pipeline.py: 1243] +05/27 06:36:19 INFO: [Worker 0] Worker 0 starting house 4325 (index 45/115) [pipeline.py: 473] +05/27 06:36:19 INFO: [Worker 0] Loaded 1 episodes for house 4325 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 06:36:19 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 06:36:20 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4325_ceiling.xml [task_sampler.py: 797] +05/27 06:36:20 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4325, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 06:36:20 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 06:36:20 INFO: [Worker 0] randomize_scene: Setting poses for 17 objects [json_eval_task_sampler.py: 686] +05/27 06:36:20 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 06:36:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 06:36:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 06:36:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 06:36:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 06:36:20 INFO: [Worker 0] Sampled task 'Pick up the matte gray wraparound safety glasses and place it next to the bulbous shiny gold metallic vase' [task_sampler.py: 1136] +05/27 06:36:20 INFO: [Worker 0] Worker 0 house 4325 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 06:36:21 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 06:37:55 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 06:46:00 INFO: [Worker 0] Worker 0 house 4325 episode 0 object objasafetyglasses_7e6a9db3e19a4cc2b49bcea5fef1d7bb_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 06:46:03 INFO: [Worker 0] Batching and saving trajectory data for house_4325: 1 episodes [pipeline.py: 233] +05/27 06:46:03 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 06:46:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 06:46:05 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4325 [save_utils.py: 703] +05/27 06:46:05 INFO: [Worker 0] Successfully saved trajectory data for house_4325 in 2.36s (batch: 2.26s, save: 0.09s) [pipeline.py: 280] +05/27 06:46:06 WARNING: [Worker 0] No trajectory data to save for house_4325 [pipeline.py: 229] +05/27 06:46:06 INFO: [Worker 0] Worker 0 completed house 4325: 0/1 successful episodes [pipeline.py: 1243] +05/27 06:46:06 INFO: [Worker 0] Worker 0 starting house 4400 (index 46/115) [pipeline.py: 473] +05/27 06:46:06 INFO: [Worker 0] Loaded 1 episodes for house 4400 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 06:46:06 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 06:46:12 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4400_ceiling.xml [task_sampler.py: 797] +05/27 06:46:12 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4400, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 06:46:12 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 06:46:12 INFO: [Worker 0] randomize_scene: Setting poses for 33 objects [json_eval_task_sampler.py: 686] +05/27 06:46:12 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 06:46:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 06:46:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 06:46:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 06:46:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 06:46:12 INFO: [Worker 0] Sampled task 'Pick up the gray hourglass-shaped cup and place it next to the glossy green cup' [task_sampler.py: 1136] +05/27 06:46:12 INFO: [Worker 0] Worker 0 house 4400 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 06:46:12 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 06:47:51 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 06:55:23 INFO: [Worker 0] Worker 0 house 4400 episode 0 object cup_03f875ba63b7adc57ed0b350736f7167_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 06:55:26 INFO: [Worker 0] Batching and saving trajectory data for house_4400: 1 episodes [pipeline.py: 233] +05/27 06:55:26 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 06:55:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 06:55:28 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4400 [save_utils.py: 703] +05/27 06:55:28 INFO: [Worker 0] Successfully saved trajectory data for house_4400 in 2.39s (batch: 2.30s, save: 0.09s) [pipeline.py: 280] +05/27 06:55:29 WARNING: [Worker 0] No trajectory data to save for house_4400 [pipeline.py: 229] +05/27 06:55:29 INFO: [Worker 0] Worker 0 completed house 4400: 0/1 successful episodes [pipeline.py: 1243] +05/27 06:55:29 INFO: [Worker 0] Worker 0 starting house 4494 (index 47/115) [pipeline.py: 473] +05/27 06:55:29 INFO: [Worker 0] Loaded 1 episodes for house 4494 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 06:55:29 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 06:55:33 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4494_ceiling.xml [task_sampler.py: 797] +05/27 06:55:33 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4494, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 06:55:33 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 06:55:33 INFO: [Worker 0] randomize_scene: Setting poses for 56 objects [json_eval_task_sampler.py: 686] +05/27 06:55:33 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 06:55:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 06:55:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 06:55:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 06:55:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 06:55:33 INFO: [Worker 0] Sampled task 'Pick up the movie camera and place it next to the dark statue' [task_sampler.py: 1136] +05/27 06:55:33 INFO: [Worker 0] Worker 0 house 4494 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 06:55:33 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 06:55:33 WARNING: [Worker 0] Could not find object vase_485850bef5e28630dd1156aaec2e3528_1_0_5 in scene [object_manager.py: 1238] +05/27 06:57:08 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 07:10:21 INFO: [Worker 0] Worker 0 house 4494 episode 0 object objamoviecamera_64bd72851ef349ef9cd24403df1789ad_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 07:10:24 INFO: [Worker 0] Batching and saving trajectory data for house_4494: 1 episodes [pipeline.py: 233] +05/27 07:10:24 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 07:10:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 07:10:27 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4494 [save_utils.py: 703] +05/27 07:10:27 INFO: [Worker 0] Successfully saved trajectory data for house_4494 in 2.37s (batch: 2.28s, save: 0.09s) [pipeline.py: 280] +05/27 07:10:27 WARNING: [Worker 0] No trajectory data to save for house_4494 [pipeline.py: 229] +05/27 07:10:27 INFO: [Worker 0] Worker 0 completed house 4494: 0/1 successful episodes [pipeline.py: 1243] +05/27 07:10:27 INFO: [Worker 0] Worker 0 starting house 4622 (index 48/115) [pipeline.py: 473] +05/27 07:10:27 INFO: [Worker 0] Loaded 1 episodes for house 4622 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 07:10:27 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 07:10:33 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/27 07:10:37 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4622_ceiling.xml [task_sampler.py: 797] +05/27 07:10:37 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4622, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 07:10:37 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 07:10:37 INFO: [Worker 0] randomize_scene: Setting poses for 68 objects [json_eval_task_sampler.py: 686] +05/27 07:10:38 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 07:10:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 07:10:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 07:10:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 07:10:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 07:10:38 INFO: [Worker 0] Sampled task 'Pick up the red pin and place it next to the red white striped lighthouse with roof' [task_sampler.py: 1136] +05/27 07:10:38 INFO: [Worker 0] Worker 0 house 4622 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 07:10:38 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 07:10:38 WARNING: [Worker 0] Could not find object objaornatebook_b14f9bd1248c4501a0c30e27d3561207_1_0_4 in scene [object_manager.py: 1238] +05/27 07:10:38 WARNING: [Worker 0] Could not find object laptop_02864bed4cf19e35d7f7f9b34005b51f_1_0_4 in scene [object_manager.py: 1238] +05/27 07:10:38 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_4 in scene [object_manager.py: 1238] +05/27 07:10:38 WARNING: [Worker 0] Could not find object objabrush_1c94b10f01654a0c928acbccf0db141e_1_0_5 in scene [object_manager.py: 1238] +05/27 07:12:17 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 07:27:29 INFO: [Worker 0] Worker 0 house 4622 episode 0 object objamarker_c94bb25528ca4d3288cd278be03479ad_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 07:27:33 INFO: [Worker 0] Batching and saving trajectory data for house_4622: 1 episodes [pipeline.py: 233] +05/27 07:27:33 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 07:27:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 07:27:36 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4622 [save_utils.py: 703] +05/27 07:27:36 INFO: [Worker 0] Successfully saved trajectory data for house_4622 in 3.00s (batch: 2.90s, save: 0.09s) [pipeline.py: 280] +05/27 07:27:37 WARNING: [Worker 0] No trajectory data to save for house_4622 [pipeline.py: 229] +05/27 07:27:37 INFO: [Worker 0] Worker 0 completed house 4622: 0/1 successful episodes [pipeline.py: 1243] +05/27 07:27:37 INFO: [Worker 0] Worker 0 starting house 4680 (index 49/115) [pipeline.py: 473] +05/27 07:27:37 INFO: [Worker 0] Loaded 1 episodes for house 4680 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 07:27:37 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 07:27:41 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4680_ceiling.xml [task_sampler.py: 797] +05/27 07:27:41 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4680, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 07:27:41 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 07:27:41 INFO: [Worker 0] randomize_scene: Setting poses for 43 objects [json_eval_task_sampler.py: 686] +05/27 07:27:41 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 07:27:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 07:27:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 07:27:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 07:27:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 07:27:41 INFO: [Worker 0] Sampled task 'Pick up the round rustic goblet and place it next to the blow drier' [task_sampler.py: 1136] +05/27 07:27:41 INFO: [Worker 0] Worker 0 house 4680 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 07:27:41 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 07:29:17 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 07:36:42 INFO: [Worker 0] Worker 0 house 4680 episode 0 object objagoblet_eca84b5c63d243e0b7b13b703875d869_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 07:36:46 INFO: [Worker 0] Batching and saving trajectory data for house_4680: 1 episodes [pipeline.py: 233] +05/27 07:36:46 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 07:36:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 07:36:49 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4680 [save_utils.py: 703] +05/27 07:36:49 INFO: [Worker 0] Successfully saved trajectory data for house_4680 in 2.83s (batch: 2.73s, save: 0.09s) [pipeline.py: 280] +05/27 07:36:50 WARNING: [Worker 0] No trajectory data to save for house_4680 [pipeline.py: 229] +05/27 07:36:50 INFO: [Worker 0] Worker 0 completed house 4680: 0/1 successful episodes [pipeline.py: 1243] +05/27 07:36:50 INFO: [Worker 0] Worker 0 starting house 4716 (index 50/115) [pipeline.py: 473] +05/27 07:36:50 INFO: [Worker 0] Loaded 1 episodes for house 4716 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 07:36:50 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 07:37:00 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4716_ceiling.xml [task_sampler.py: 797] +05/27 07:37:00 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4716, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 07:37:00 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 07:37:00 INFO: [Worker 0] randomize_scene: Setting poses for 77 objects [json_eval_task_sampler.py: 686] +05/27 07:37:00 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 07:37:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 07:37:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 07:37:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 07:37:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 07:37:00 INFO: [Worker 0] Sampled task 'Pick up the red pin and place it next to the small beige clay tablet with engravings' [task_sampler.py: 1136] +05/27 07:37:00 INFO: [Worker 0] Worker 0 house 4716 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 07:37:00 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 07:37:00 WARNING: [Worker 0] Could not find object objasponge_fc6f343e05344c49baa810fb280e9dcb_1_0_5 in scene [object_manager.py: 1238] +05/27 07:52:06 INFO: [Worker 0] Worker 0 house 4716 episode 0 object objamarker_c94bb25528ca4d3288cd278be03479ad_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 07:52:10 INFO: [Worker 0] Batching and saving trajectory data for house_4716: 1 episodes [pipeline.py: 233] +05/27 07:52:10 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 07:52:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 07:52:13 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4716 [save_utils.py: 703] +05/27 07:52:13 INFO: [Worker 0] Successfully saved trajectory data for house_4716 in 2.77s (batch: 2.68s, save: 0.09s) [pipeline.py: 280] +05/27 07:52:13 WARNING: [Worker 0] No trajectory data to save for house_4716 [pipeline.py: 229] +05/27 07:52:13 INFO: [Worker 0] Worker 0 completed house 4716: 0/1 successful episodes [pipeline.py: 1243] +05/27 07:52:13 INFO: [Worker 0] Worker 0 starting house 4800 (index 51/115) [pipeline.py: 473] +05/27 07:52:13 INFO: [Worker 0] Loaded 1 episodes for house 4800 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 07:52:13 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 07:52:17 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4800_ceiling.xml [task_sampler.py: 797] +05/27 07:52:17 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4800, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 07:52:17 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 07:52:17 INFO: [Worker 0] randomize_scene: Setting poses for 47 objects [json_eval_task_sampler.py: 686] +05/27 07:52:17 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 07:52:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 07:52:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 07:52:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 07:52:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 07:52:17 INFO: [Worker 0] Sampled task 'Pick up the red bell pepper with stem and place it next to the smokingpipe' [task_sampler.py: 1136] +05/27 07:52:17 INFO: [Worker 0] Worker 0 house 4800 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 07:52:17 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 07:53:55 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 08:03:51 INFO: [Worker 0] Worker 0 house 4800 episode 0 object objavegetable_d8d6bb178d07401aa9c94faab14e0b4f_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 08:03:55 INFO: [Worker 0] Batching and saving trajectory data for house_4800: 1 episodes [pipeline.py: 233] +05/27 08:03:55 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 08:03:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 08:03:57 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4800 [save_utils.py: 703] +05/27 08:03:57 INFO: [Worker 0] Successfully saved trajectory data for house_4800 in 2.81s (batch: 2.72s, save: 0.09s) [pipeline.py: 280] +05/27 08:03:58 WARNING: [Worker 0] No trajectory data to save for house_4800 [pipeline.py: 229] +05/27 08:03:58 INFO: [Worker 0] Worker 0 completed house 4800: 0/1 successful episodes [pipeline.py: 1243] +05/27 08:03:58 INFO: [Worker 0] Worker 0 starting house 4872 (index 52/115) [pipeline.py: 473] +05/27 08:03:58 INFO: [Worker 0] Loaded 1 episodes for house 4872 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 08:03:58 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 08:04:01 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4872_ceiling.xml [task_sampler.py: 797] +05/27 08:04:01 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4872, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 08:04:01 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 08:04:01 INFO: [Worker 0] randomize_scene: Setting poses for 44 objects [json_eval_task_sampler.py: 686] +05/27 08:04:01 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 08:04:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 08:04:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 08:04:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 08:04:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 08:04:01 INFO: [Worker 0] Sampled task 'Pick up the green smoke grenade with lever and place it next to the glossy black trophy' [task_sampler.py: 1136] +05/27 08:04:01 INFO: [Worker 0] Worker 0 house 4872 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 08:04:01 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 08:04:02 WARNING: [Worker 0] Could not find object objasneaker_75c97069e89c4d84ab36922b77a97678_1_0_5 in scene [object_manager.py: 1238] +05/27 08:04:02 WARNING: [Worker 0] Could not find object objanecklace_6cb44b2639434029872f4a0a03e42521_1_0_5 in scene [object_manager.py: 1238] +05/27 08:04:02 WARNING: [Worker 0] Could not find object candle_1b82c5d62bcdb9c9e0fbc639fdc9e22a_1_0_5 in scene [object_manager.py: 1238] +05/27 08:05:39 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 08:15:16 INFO: [Worker 0] Worker 0 house 4872 episode 0 object objasmokegrenade_eb6b544af0ec4072b52d193c4d90efad_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 08:15:19 INFO: [Worker 0] Batching and saving trajectory data for house_4872: 1 episodes [pipeline.py: 233] +05/27 08:15:19 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 08:15:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 08:15:22 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4872 [save_utils.py: 703] +05/27 08:15:22 INFO: [Worker 0] Successfully saved trajectory data for house_4872 in 2.37s (batch: 2.28s, save: 0.09s) [pipeline.py: 280] +05/27 08:15:22 WARNING: [Worker 0] No trajectory data to save for house_4872 [pipeline.py: 229] +05/27 08:15:22 INFO: [Worker 0] Worker 0 completed house 4872: 0/1 successful episodes [pipeline.py: 1243] +05/27 08:15:22 INFO: [Worker 0] Worker 0 starting house 4962 (index 53/115) [pipeline.py: 473] +05/27 08:15:22 INFO: [Worker 0] Loaded 1 episodes for house 4962 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 08:15:22 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 08:15:36 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4962_ceiling.xml [task_sampler.py: 797] +05/27 08:15:36 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4962, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 08:15:36 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 08:15:36 INFO: [Worker 0] randomize_scene: Setting poses for 85 objects [json_eval_task_sampler.py: 686] +05/27 08:15:36 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 08:15:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 08:15:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 08:15:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 08:15:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 08:15:36 INFO: [Worker 0] Sampled task 'Pick up the sleek black hairdryer with pink opening and place it next to the green dragon axe' [task_sampler.py: 1136] +05/27 08:15:36 INFO: [Worker 0] Worker 0 house 4962 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 08:15:37 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 08:17:13 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 08:32:17 INFO: [Worker 0] Worker 0 house 4962 episode 0 object objahairdryer_9ddac67ac88d47758c8e85f154a61dbb_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 08:32:21 INFO: [Worker 0] Batching and saving trajectory data for house_4962: 1 episodes [pipeline.py: 233] +05/27 08:32:21 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 08:32:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 08:32:24 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4962 [save_utils.py: 703] +05/27 08:32:24 INFO: [Worker 0] Successfully saved trajectory data for house_4962 in 2.92s (batch: 2.83s, save: 0.09s) [pipeline.py: 280] +05/27 08:32:25 WARNING: [Worker 0] No trajectory data to save for house_4962 [pipeline.py: 229] +05/27 08:32:25 INFO: [Worker 0] Worker 0 completed house 4962: 0/1 successful episodes [pipeline.py: 1243] +05/27 08:32:25 INFO: [Worker 0] Worker 0 starting house 5067 (index 54/115) [pipeline.py: 473] +05/27 08:32:25 INFO: [Worker 0] Loaded 1 episodes for house 5067 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 08:32:25 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 08:32:39 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5067_ceiling.xml [task_sampler.py: 797] +05/27 08:32:39 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5067, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 08:32:39 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 08:32:39 INFO: [Worker 0] randomize_scene: Setting poses for 60 objects [json_eval_task_sampler.py: 686] +05/27 08:32:39 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 08:32:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 08:32:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 08:32:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 08:32:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 08:32:39 INFO: [Worker 0] Sampled task 'Pick up the portable black handheld radio with antenna and place it next to the beige fedora hat' [task_sampler.py: 1136] +05/27 08:32:39 INFO: [Worker 0] Worker 0 house 5067 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 08:32:39 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 08:32:39 WARNING: [Worker 0] Could not find object objamodelairship_268669ad2fc54aafac3003b1656d2b20_1_0_6 in scene [object_manager.py: 1238] +05/27 08:32:39 WARNING: [Worker 0] Could not find object laptop_a57856d0ecd933c51f9e8bf8f3bcf569_1_0_6 in scene [object_manager.py: 1238] +05/27 08:36:40 INFO: [Worker 0] Worker 0 house 5067 episode 0 object objawalkietalkie_282d16b8d5a84343953eb6d8d135722a_1_0_6 completed with success=True [pipeline.py: 1114] +05/27 08:36:44 INFO: [Worker 0] Batching and saving trajectory data for house_5067: 1 episodes [pipeline.py: 233] +05/27 08:36:44 INFO: [Worker 0] Preparing episode data: 75 timesteps [save_utils.py: 284] +05/27 08:36:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 08:36:46 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5067 [save_utils.py: 703] +05/27 08:36:46 INFO: [Worker 0] Successfully saved trajectory data for house_5067 in 2.56s (batch: 2.53s, save: 0.03s) [pipeline.py: 280] +05/27 08:36:47 WARNING: [Worker 0] No trajectory data to save for house_5067 [pipeline.py: 229] +05/27 08:36:47 INFO: [Worker 0] Worker 0 completed house 5067: 1/1 successful episodes [pipeline.py: 1243] +05/27 08:36:47 INFO: [Worker 0] Worker 0 starting house 5164 (index 55/115) [pipeline.py: 473] +05/27 08:36:47 INFO: [Worker 0] Loaded 1 episodes for house 5164 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 08:36:47 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 08:36:51 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5164_ceiling.xml [task_sampler.py: 797] +05/27 08:36:51 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5164, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 08:36:51 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 08:36:51 INFO: [Worker 0] randomize_scene: Setting poses for 60 objects [json_eval_task_sampler.py: 686] +05/27 08:36:51 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 08:36:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 08:36:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 08:36:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 08:36:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 08:36:51 INFO: [Worker 0] Sampled task 'Pick up the weathered stone medallion with flower and place it next to the brown egg' [task_sampler.py: 1136] +05/27 08:36:51 INFO: [Worker 0] Worker 0 house 5164 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 08:36:51 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 08:52:24 INFO: [Worker 0] Worker 0 house 5164 episode 0 object objadecorativemedallion_8ac2c0dc500f4477ad31ccfd82a106f3_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 08:52:27 INFO: [Worker 0] Batching and saving trajectory data for house_5164: 1 episodes [pipeline.py: 233] +05/27 08:52:27 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 08:52:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 08:52:30 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5164 [save_utils.py: 703] +05/27 08:52:30 INFO: [Worker 0] Successfully saved trajectory data for house_5164 in 2.78s (batch: 2.69s, save: 0.09s) [pipeline.py: 280] +05/27 08:52:31 WARNING: [Worker 0] No trajectory data to save for house_5164 [pipeline.py: 229] +05/27 08:52:31 INFO: [Worker 0] Worker 0 completed house 5164: 0/1 successful episodes [pipeline.py: 1243] +05/27 08:52:31 INFO: [Worker 0] Worker 0 starting house 5203 (index 56/115) [pipeline.py: 473] +05/27 08:52:31 INFO: [Worker 0] Loaded 1 episodes for house 5203 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 08:52:31 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 08:52:43 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5203_ceiling.xml [task_sampler.py: 797] +05/27 08:52:43 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5203, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 08:52:43 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 08:52:43 INFO: [Worker 0] randomize_scene: Setting poses for 71 objects [json_eval_task_sampler.py: 686] +05/27 08:52:43 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 08:52:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 08:52:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 08:52:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 08:52:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 08:52:43 INFO: [Worker 0] Sampled task 'Pick up the black axe with camouflage handle and place it next to the tomato' [task_sampler.py: 1136] +05/27 08:52:43 INFO: [Worker 0] Worker 0 house 5203 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 08:52:43 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 08:54:18 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 09:07:46 INFO: [Worker 0] Worker 0 house 5203 episode 0 object objatacticaltool_939742983522410db0d0d18b38b5f48a_1_0_8 completed with success=False [pipeline.py: 1114] +05/27 09:07:50 INFO: [Worker 0] Batching and saving trajectory data for house_5203: 1 episodes [pipeline.py: 233] +05/27 09:07:50 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 09:07:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 09:07:52 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5203 [save_utils.py: 703] +05/27 09:07:52 INFO: [Worker 0] Successfully saved trajectory data for house_5203 in 2.39s (batch: 2.30s, save: 0.09s) [pipeline.py: 280] +05/27 09:07:52 WARNING: [Worker 0] No trajectory data to save for house_5203 [pipeline.py: 229] +05/27 09:07:52 INFO: [Worker 0] Worker 0 completed house 5203: 0/1 successful episodes [pipeline.py: 1243] +05/27 09:07:52 INFO: [Worker 0] Worker 0 starting house 5382 (index 57/115) [pipeline.py: 473] +05/27 09:07:52 INFO: [Worker 0] Loaded 1 episodes for house 5382 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 09:07:52 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 09:07:57 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5382_ceiling.xml [task_sampler.py: 797] +05/27 09:07:57 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5382, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 09:07:57 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 09:07:57 INFO: [Worker 0] randomize_scene: Setting poses for 62 objects [json_eval_task_sampler.py: 686] +05/27 09:07:57 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 09:07:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 09:07:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 09:07:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 09:07:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 09:07:57 INFO: [Worker 0] Sampled task 'Pick up the vintage wooden stamp handle and place it next to the bronze full-figured statue' [task_sampler.py: 1136] +05/27 09:07:57 INFO: [Worker 0] Worker 0 house 5382 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 09:07:57 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 09:09:38 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 09:21:44 INFO: [Worker 0] Worker 0 house 5382 episode 0 object objastamp_08c428ecb76446c288479a3b95dfd144_1_0_9 completed with success=False [pipeline.py: 1114] +05/27 09:21:48 INFO: [Worker 0] Batching and saving trajectory data for house_5382: 1 episodes [pipeline.py: 233] +05/27 09:21:48 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 09:21:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 09:21:51 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5382 [save_utils.py: 703] +05/27 09:21:51 INFO: [Worker 0] Successfully saved trajectory data for house_5382 in 2.74s (batch: 2.66s, save: 0.09s) [pipeline.py: 280] +05/27 09:21:51 WARNING: [Worker 0] No trajectory data to save for house_5382 [pipeline.py: 229] +05/27 09:21:51 INFO: [Worker 0] Worker 0 completed house 5382: 0/1 successful episodes [pipeline.py: 1243] +05/27 09:21:51 INFO: [Worker 0] Worker 0 starting house 5459 (index 58/115) [pipeline.py: 473] +05/27 09:21:51 INFO: [Worker 0] Loaded 1 episodes for house 5459 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 09:21:51 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 09:23:13 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5459_ceiling.xml [task_sampler.py: 797] +05/27 09:23:13 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5459, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 09:23:13 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 09:23:13 INFO: [Worker 0] randomize_scene: Setting poses for 46 objects [json_eval_task_sampler.py: 686] +05/27 09:23:13 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 09:23:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 09:23:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 09:23:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 09:23:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 09:23:13 INFO: [Worker 0] Sampled task 'Pick up the gray handheld video camera with handle and place it next to the slim blue cell phone with pattern' [task_sampler.py: 1136] +05/27 09:23:13 INFO: [Worker 0] Worker 0 house 5459 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 09:23:13 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 09:23:13 WARNING: [Worker 0] Could not find object objafossilizedseashell_1b5378b435b246c094197cdf1b2801ee_1_0_4 in scene [object_manager.py: 1238] +05/27 09:23:13 WARNING: [Worker 0] Could not find object alarmclock_85647c60207a07a17bbd65025ae5d72c_1_0_4 in scene [object_manager.py: 1238] +05/27 09:24:49 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 09:35:05 INFO: [Worker 0] Worker 0 house 5459 episode 0 object objavideocamera_55426eda2ba244a4b177e4b85400937c_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 09:35:09 INFO: [Worker 0] Batching and saving trajectory data for house_5459: 1 episodes [pipeline.py: 233] +05/27 09:35:09 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 09:35:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 09:35:12 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5459 [save_utils.py: 703] +05/27 09:35:12 INFO: [Worker 0] Successfully saved trajectory data for house_5459 in 2.83s (batch: 2.74s, save: 0.09s) [pipeline.py: 280] +05/27 09:35:13 WARNING: [Worker 0] No trajectory data to save for house_5459 [pipeline.py: 229] +05/27 09:35:13 INFO: [Worker 0] Worker 0 completed house 5459: 0/1 successful episodes [pipeline.py: 1243] +05/27 09:35:13 INFO: [Worker 0] Worker 0 starting house 5546 (index 59/115) [pipeline.py: 473] +05/27 09:35:13 INFO: [Worker 0] Loaded 1 episodes for house 5546 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 09:35:13 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 09:35:20 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5546_ceiling.xml [task_sampler.py: 797] +05/27 09:35:20 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5546, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 09:35:20 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 09:35:20 INFO: [Worker 0] randomize_scene: Setting poses for 20 objects [json_eval_task_sampler.py: 686] +05/27 09:35:20 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 09:35:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 09:35:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 09:35:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 09:35:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 09:35:20 INFO: [Worker 0] Sampled task 'Pick up the brown wooden studded club and place it next to the thick yellow hardcover programming book' [task_sampler.py: 1136] +05/27 09:35:20 INFO: [Worker 0] Worker 0 house 5546 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 09:35:20 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 09:36:55 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 09:44:43 INFO: [Worker 0] Worker 0 house 5546 episode 0 object objadecorativeclub_de3246c2dea44185bf857acbcc51ae3b_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 09:44:47 INFO: [Worker 0] Batching and saving trajectory data for house_5546: 1 episodes [pipeline.py: 233] +05/27 09:44:47 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 09:44:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 09:44:50 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5546 [save_utils.py: 703] +05/27 09:44:50 INFO: [Worker 0] Successfully saved trajectory data for house_5546 in 2.77s (batch: 2.69s, save: 0.09s) [pipeline.py: 280] +05/27 09:44:51 WARNING: [Worker 0] No trajectory data to save for house_5546 [pipeline.py: 229] +05/27 09:44:51 INFO: [Worker 0] Worker 0 completed house 5546: 0/1 successful episodes [pipeline.py: 1243] +05/27 09:44:51 INFO: [Worker 0] Worker 0 starting house 5612 (index 60/115) [pipeline.py: 473] +05/27 09:44:51 INFO: [Worker 0] Loaded 1 episodes for house 5612 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 09:44:51 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 09:44:54 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5612_ceiling.xml [task_sampler.py: 797] +05/27 09:44:54 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5612, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 09:44:54 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 09:44:54 INFO: [Worker 0] randomize_scene: Setting poses for 38 objects [json_eval_task_sampler.py: 686] +05/27 09:44:54 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 09:44:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 09:44:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 09:44:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 09:44:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 09:44:54 INFO: [Worker 0] Sampled task 'Pick up the decorative eye sculpture and place it next to the glossy black dog statue' [task_sampler.py: 1136] +05/27 09:44:54 INFO: [Worker 0] Worker 0 house 5612 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 09:44:54 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 09:46:31 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 09:56:36 INFO: [Worker 0] Worker 0 house 5612 episode 0 object objadecorativeeyesculpture_454bf9901cee4629b2e3b87541c8ab1f_1_0_4 completed with success=False [pipeline.py: 1114] +05/27 09:56:40 INFO: [Worker 0] Batching and saving trajectory data for house_5612: 1 episodes [pipeline.py: 233] +05/27 09:56:40 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 09:56:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 09:56:43 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5612 [save_utils.py: 703] +05/27 09:56:43 INFO: [Worker 0] Successfully saved trajectory data for house_5612 in 2.77s (batch: 2.68s, save: 0.09s) [pipeline.py: 280] +05/27 09:56:44 WARNING: [Worker 0] No trajectory data to save for house_5612 [pipeline.py: 229] +05/27 09:56:44 INFO: [Worker 0] Worker 0 completed house 5612: 0/1 successful episodes [pipeline.py: 1243] +05/27 09:56:44 INFO: [Worker 0] Worker 0 starting house 5668 (index 61/115) [pipeline.py: 473] +05/27 09:56:44 INFO: [Worker 0] Loaded 1 episodes for house 5668 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 09:56:44 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 09:57:10 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5668_ceiling.xml [task_sampler.py: 797] +05/27 09:57:10 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5668, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 09:57:10 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 09:57:10 INFO: [Worker 0] randomize_scene: Setting poses for 90 objects [json_eval_task_sampler.py: 686] +05/27 09:57:10 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 09:57:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 09:57:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 09:57:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 09:57:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 09:57:10 INFO: [Worker 0] Sampled task 'Pick up the gray rectangular vintage phone and place it next to the purple rectangular shiny quilted pillow' [task_sampler.py: 1136] +05/27 09:57:10 INFO: [Worker 0] Worker 0 house 5668 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 09:57:10 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 09:58:46 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 10:14:22 INFO: [Worker 0] Worker 0 house 5668 episode 0 object objavintagemobilephone_440be7eb5de8469f84dbadefec1f0786_1_0_4 completed with success=False [pipeline.py: 1114] +05/27 10:14:25 INFO: [Worker 0] Batching and saving trajectory data for house_5668: 1 episodes [pipeline.py: 233] +05/27 10:14:25 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 10:14:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 10:14:28 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5668 [save_utils.py: 703] +05/27 10:14:28 INFO: [Worker 0] Successfully saved trajectory data for house_5668 in 2.40s (batch: 2.30s, save: 0.09s) [pipeline.py: 280] +05/27 10:14:28 WARNING: [Worker 0] No trajectory data to save for house_5668 [pipeline.py: 229] +05/27 10:14:28 INFO: [Worker 0] Worker 0 completed house 5668: 0/1 successful episodes [pipeline.py: 1243] +05/27 10:14:28 INFO: [Worker 0] Worker 0 starting house 5773 (index 62/115) [pipeline.py: 473] +05/27 10:14:28 INFO: [Worker 0] Loaded 1 episodes for house 5773 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 10:14:28 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 10:14:44 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5773_ceiling.xml [task_sampler.py: 797] +05/27 10:14:44 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5773, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 10:14:44 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 10:14:44 INFO: [Worker 0] randomize_scene: Setting poses for 50 objects [json_eval_task_sampler.py: 686] +05/27 10:14:44 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 10:14:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 10:14:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 10:14:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 10:14:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 10:14:44 INFO: [Worker 0] Sampled task 'Pick up the beige cartoon skeleton figure and place it next to the white candle with number four' [task_sampler.py: 1136] +05/27 10:14:44 INFO: [Worker 0] Worker 0 house 5773 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 10:14:44 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 10:14:44 WARNING: [Worker 0] Could not find object objacoresample_1523f4c39bc84375b9ebf4e66fe972bf_1_0_2 in scene [object_manager.py: 1238] +05/27 10:16:21 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 10:28:01 INFO: [Worker 0] Worker 0 house 5773 episode 0 object objaskeletonfigure_d607a92aa9b54909b993535f96997115_2_0_4 completed with success=False [pipeline.py: 1114] +05/27 10:28:05 INFO: [Worker 0] Batching and saving trajectory data for house_5773: 1 episodes [pipeline.py: 233] +05/27 10:28:05 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 10:28:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 10:28:08 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5773 [save_utils.py: 703] +05/27 10:28:08 INFO: [Worker 0] Successfully saved trajectory data for house_5773 in 2.73s (batch: 2.65s, save: 0.09s) [pipeline.py: 280] +05/27 10:28:08 WARNING: [Worker 0] No trajectory data to save for house_5773 [pipeline.py: 229] +05/27 10:28:08 INFO: [Worker 0] Worker 0 completed house 5773: 0/1 successful episodes [pipeline.py: 1243] +05/27 10:28:08 INFO: [Worker 0] Worker 0 starting house 5897 (index 63/115) [pipeline.py: 473] +05/27 10:28:08 INFO: [Worker 0] Loaded 1 episodes for house 5897 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 10:28:08 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 10:29:03 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5897_ceiling.xml [task_sampler.py: 797] +05/27 10:29:03 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5897, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 10:29:03 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 10:29:03 INFO: [Worker 0] randomize_scene: Setting poses for 39 objects [json_eval_task_sampler.py: 686] +05/27 10:29:03 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 10:29:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 10:29:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 10:29:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 10:29:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 10:29:03 INFO: [Worker 0] Sampled task 'Pick up the silver cross with grip and place it next to the black rectangular computer monitor' [task_sampler.py: 1136] +05/27 10:29:03 INFO: [Worker 0] Worker 0 house 5897 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 10:29:03 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 10:41:36 INFO: [Worker 0] Worker 0 house 5897 episode 0 object objadecorativestake_a7b05f15639049798a22ae3976000dc4_1_0_5 completed with success=False [pipeline.py: 1114] +05/27 10:41:40 INFO: [Worker 0] Batching and saving trajectory data for house_5897: 1 episodes [pipeline.py: 233] +05/27 10:41:40 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 10:41:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 10:41:43 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5897 [save_utils.py: 703] +05/27 10:41:43 INFO: [Worker 0] Successfully saved trajectory data for house_5897 in 2.81s (batch: 2.72s, save: 0.09s) [pipeline.py: 280] +05/27 10:41:44 WARNING: [Worker 0] No trajectory data to save for house_5897 [pipeline.py: 229] +05/27 10:41:44 INFO: [Worker 0] Worker 0 completed house 5897: 0/1 successful episodes [pipeline.py: 1243] +05/27 10:41:44 INFO: [Worker 0] Worker 0 starting house 5928 (index 64/115) [pipeline.py: 473] +05/27 10:41:44 INFO: [Worker 0] Loaded 1 episodes for house 5928 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 10:41:44 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 10:41:51 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5928_ceiling.xml [task_sampler.py: 797] +05/27 10:41:51 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5928, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 10:41:51 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 10:41:51 INFO: [Worker 0] randomize_scene: Setting poses for 31 objects [json_eval_task_sampler.py: 686] +05/27 10:41:51 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 10:41:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 10:41:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 10:41:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 10:41:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 10:41:51 INFO: [Worker 0] Sampled task 'Pick up the small circular device projecting blue light and place it next to the realistic primate skull' [task_sampler.py: 1136] +05/27 10:41:51 INFO: [Worker 0] Worker 0 house 5928 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 10:41:51 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 10:43:27 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 10:51:13 INFO: [Worker 0] Worker 0 house 5928 episode 0 object objaholographicprojector_9860e2270f1245698995adce759c187f_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 10:51:16 INFO: [Worker 0] Batching and saving trajectory data for house_5928: 1 episodes [pipeline.py: 233] +05/27 10:51:16 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 10:51:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 10:51:19 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5928 [save_utils.py: 703] +05/27 10:51:19 INFO: [Worker 0] Successfully saved trajectory data for house_5928 in 2.33s (batch: 2.24s, save: 0.09s) [pipeline.py: 280] +05/27 10:51:19 WARNING: [Worker 0] No trajectory data to save for house_5928 [pipeline.py: 229] +05/27 10:51:19 INFO: [Worker 0] Worker 0 completed house 5928: 0/1 successful episodes [pipeline.py: 1243] +05/27 10:51:19 INFO: [Worker 0] Worker 0 starting house 6068 (index 65/115) [pipeline.py: 473] +05/27 10:51:19 INFO: [Worker 0] Loaded 1 episodes for house 6068 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 10:51:19 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 10:51:39 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6068_ceiling.xml [task_sampler.py: 797] +05/27 10:51:39 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6068, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 10:51:39 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 10:51:39 INFO: [Worker 0] randomize_scene: Setting poses for 62 objects [json_eval_task_sampler.py: 686] +05/27 10:51:39 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 10:51:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 10:51:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 10:51:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 10:51:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 10:51:39 INFO: [Worker 0] Sampled task 'Pick up the striped wasp and place it next to the gray rubber mallet with wooden handle' [task_sampler.py: 1136] +05/27 10:51:39 INFO: [Worker 0] Worker 0 house 6068 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 10:51:40 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 10:51:40 WARNING: [Worker 0] Could not find object laptop_f09fcf086ebe9e3ab2d97bff50b833ef_1_0_5 in scene [object_manager.py: 1238] +05/27 10:53:16 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 11:05:44 INFO: [Worker 0] Worker 0 house 6068 episode 0 object objainsect_4c74d77df5ee41948218f8a620ec1228_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 11:05:48 INFO: [Worker 0] Batching and saving trajectory data for house_6068: 1 episodes [pipeline.py: 233] +05/27 11:05:48 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 11:05:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 11:05:51 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6068 [save_utils.py: 703] +05/27 11:05:51 INFO: [Worker 0] Successfully saved trajectory data for house_6068 in 2.85s (batch: 2.75s, save: 0.09s) [pipeline.py: 280] +05/27 11:05:51 WARNING: [Worker 0] No trajectory data to save for house_6068 [pipeline.py: 229] +05/27 11:05:51 INFO: [Worker 0] Worker 0 completed house 6068: 0/1 successful episodes [pipeline.py: 1243] +05/27 11:05:51 INFO: [Worker 0] Worker 0 starting house 6143 (index 66/115) [pipeline.py: 473] +05/27 11:05:51 INFO: [Worker 0] Loaded 1 episodes for house 6143 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 11:05:51 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 11:05:53 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6143_ceiling.xml [task_sampler.py: 797] +05/27 11:05:53 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6143, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 11:05:53 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 11:05:53 INFO: [Worker 0] randomize_scene: Setting poses for 19 objects [json_eval_task_sampler.py: 686] +05/27 11:05:53 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 11:05:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 11:05:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 11:05:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 11:05:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 11:05:53 INFO: [Worker 0] Sampled task 'Pick up the porcelain dish with colorful floral patterns and place it next to the smooth red apple with stem' [task_sampler.py: 1136] +05/27 11:05:53 INFO: [Worker 0] Worker 0 house 6143 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 11:05:53 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 11:07:29 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 11:13:25 INFO: [Worker 0] Worker 0 house 6143 episode 0 object objadish_0f1f3038a3144ab88d39739cc980fdc1_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 11:13:29 INFO: [Worker 0] Batching and saving trajectory data for house_6143: 1 episodes [pipeline.py: 233] +05/27 11:13:29 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 11:13:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 11:13:32 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6143 [save_utils.py: 703] +05/27 11:13:32 INFO: [Worker 0] Successfully saved trajectory data for house_6143 in 2.78s (batch: 2.69s, save: 0.09s) [pipeline.py: 280] +05/27 11:13:32 WARNING: [Worker 0] No trajectory data to save for house_6143 [pipeline.py: 229] +05/27 11:13:32 INFO: [Worker 0] Worker 0 completed house 6143: 0/1 successful episodes [pipeline.py: 1243] +05/27 11:13:32 INFO: [Worker 0] Worker 0 starting house 6205 (index 67/115) [pipeline.py: 473] +05/27 11:13:32 INFO: [Worker 0] Loaded 1 episodes for house 6205 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 11:13:32 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 11:13:38 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6205_ceiling.xml [task_sampler.py: 797] +05/27 11:13:38 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6205, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 11:13:38 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 11:13:38 INFO: [Worker 0] randomize_scene: Setting poses for 56 objects [json_eval_task_sampler.py: 686] +05/27 11:13:38 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 11:13:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 11:13:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 11:13:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 11:13:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 11:13:38 INFO: [Worker 0] Sampled task 'Pick up the pop up card and place it next to the bulbous shiny gold vase' [task_sampler.py: 1136] +05/27 11:13:38 INFO: [Worker 0] Worker 0 house 6205 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 11:13:38 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 11:13:38 WARNING: [Worker 0] Could not find object objamagnet_6123eb533c72464c976bbcbc79d0613c_1_0_6 in scene [object_manager.py: 1238] +05/27 11:15:22 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 11:27:00 INFO: [Worker 0] Worker 0 house 6205 episode 0 object objapopupcard_c384a40a36554ddeb1a0a08f8ec266d3_2_0_8 completed with success=False [pipeline.py: 1114] +05/27 11:27:04 INFO: [Worker 0] Batching and saving trajectory data for house_6205: 1 episodes [pipeline.py: 233] +05/27 11:27:04 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 11:27:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 11:27:06 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6205 [save_utils.py: 703] +05/27 11:27:06 INFO: [Worker 0] Successfully saved trajectory data for house_6205 in 2.77s (batch: 2.68s, save: 0.10s) [pipeline.py: 280] +05/27 11:27:07 WARNING: [Worker 0] No trajectory data to save for house_6205 [pipeline.py: 229] +05/27 11:27:07 INFO: [Worker 0] Worker 0 completed house 6205: 0/1 successful episodes [pipeline.py: 1243] +05/27 11:27:07 INFO: [Worker 0] Worker 0 starting house 6269 (index 68/115) [pipeline.py: 473] +05/27 11:27:07 INFO: [Worker 0] Loaded 1 episodes for house 6269 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 11:27:07 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 11:27:20 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6269_ceiling.xml [task_sampler.py: 797] +05/27 11:27:20 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6269, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 11:27:20 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 11:27:20 INFO: [Worker 0] randomize_scene: Setting poses for 38 objects [json_eval_task_sampler.py: 686] +05/27 11:27:20 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 11:27:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 11:27:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 11:27:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 11:27:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 11:27:20 INFO: [Worker 0] Sampled task 'Pick up the blue soap bottle with orange pump and place it next to the gray bowl' [task_sampler.py: 1136] +05/27 11:27:20 INFO: [Worker 0] Worker 0 house 6269 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 11:27:20 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 11:28:55 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 11:38:07 INFO: [Worker 0] Worker 0 house 6269 episode 0 object soapdispenser_a5b909071a32566c65c63f0ed9e3c5d4_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 11:38:11 INFO: [Worker 0] Batching and saving trajectory data for house_6269: 1 episodes [pipeline.py: 233] +05/27 11:38:11 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 11:38:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 11:38:14 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6269 [save_utils.py: 703] +05/27 11:38:14 INFO: [Worker 0] Successfully saved trajectory data for house_6269 in 2.78s (batch: 2.69s, save: 0.09s) [pipeline.py: 280] +05/27 11:38:14 WARNING: [Worker 0] No trajectory data to save for house_6269 [pipeline.py: 229] +05/27 11:38:14 INFO: [Worker 0] Worker 0 completed house 6269: 0/1 successful episodes [pipeline.py: 1243] +05/27 11:38:14 INFO: [Worker 0] Worker 0 starting house 6303 (index 69/115) [pipeline.py: 473] +05/27 11:38:14 INFO: [Worker 0] Loaded 1 episodes for house 6303 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 11:38:14 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 11:38:17 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6303_ceiling.xml [task_sampler.py: 797] +05/27 11:38:17 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6303, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 11:38:17 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 11:38:17 INFO: [Worker 0] randomize_scene: Setting poses for 31 objects [json_eval_task_sampler.py: 686] +05/27 11:38:17 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 11:38:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 11:38:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 11:38:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 11:38:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 11:38:17 INFO: [Worker 0] Sampled task 'Pick up the blue marker and place it next to the translucent blue soap bottle with pump' [task_sampler.py: 1136] +05/27 11:38:17 INFO: [Worker 0] Worker 0 house 6303 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 11:38:17 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 11:39:53 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 11:47:14 INFO: [Worker 0] Worker 0 house 6303 episode 0 object objamarkerpen_9ded8666275148929a57190ab939c735_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 11:47:17 INFO: [Worker 0] Batching and saving trajectory data for house_6303: 1 episodes [pipeline.py: 233] +05/27 11:47:17 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 11:47:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 11:47:19 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6303 [save_utils.py: 703] +05/27 11:47:19 INFO: [Worker 0] Successfully saved trajectory data for house_6303 in 2.32s (batch: 2.23s, save: 0.09s) [pipeline.py: 280] +05/27 11:47:20 WARNING: [Worker 0] No trajectory data to save for house_6303 [pipeline.py: 229] +05/27 11:47:20 INFO: [Worker 0] Worker 0 completed house 6303: 0/1 successful episodes [pipeline.py: 1243] +05/27 11:47:20 INFO: [Worker 0] Worker 0 starting house 6391 (index 70/115) [pipeline.py: 473] +05/27 11:47:20 INFO: [Worker 0] Loaded 1 episodes for house 6391 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 11:47:20 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 11:47:30 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6391_ceiling.xml [task_sampler.py: 797] +05/27 11:47:30 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6391, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 11:47:30 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 11:47:30 INFO: [Worker 0] randomize_scene: Setting poses for 60 objects [json_eval_task_sampler.py: 686] +05/27 11:47:30 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 11:47:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 11:47:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 11:47:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 11:47:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 11:47:30 INFO: [Worker 0] Sampled task 'Pick up the rough corroded circular metal ring and place it next to the square olive green plate' [task_sampler.py: 1136] +05/27 11:47:30 INFO: [Worker 0] Worker 0 house 6391 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 11:47:30 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 11:49:06 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 12:02:02 INFO: [Worker 0] Worker 0 house 6391 episode 0 object objametalring_8b9edce1030849c0b2101af955b65b02_1_0_9 completed with success=False [pipeline.py: 1114] +05/27 12:02:06 INFO: [Worker 0] Batching and saving trajectory data for house_6391: 1 episodes [pipeline.py: 233] +05/27 12:02:06 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 12:02:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 12:02:09 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6391 [save_utils.py: 703] +05/27 12:02:09 INFO: [Worker 0] Successfully saved trajectory data for house_6391 in 2.82s (batch: 2.73s, save: 0.09s) [pipeline.py: 280] +05/27 12:02:09 WARNING: [Worker 0] No trajectory data to save for house_6391 [pipeline.py: 229] +05/27 12:02:09 INFO: [Worker 0] Worker 0 completed house 6391: 0/1 successful episodes [pipeline.py: 1243] +05/27 12:02:09 INFO: [Worker 0] Worker 0 starting house 6437 (index 71/115) [pipeline.py: 473] +05/27 12:02:09 INFO: [Worker 0] Loaded 2 episodes for house 6437 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 12:02:09 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 12:02:22 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6437_ceiling.xml [task_sampler.py: 797] +05/27 12:02:22 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6437, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 12:02:22 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 12:02:22 INFO: [Worker 0] randomize_scene: Setting poses for 80 objects [json_eval_task_sampler.py: 686] +05/27 12:02:22 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 12:02:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 12:02:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 12:02:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 12:02:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 12:02:22 INFO: [Worker 0] Sampled task 'Pick up the blue milk carton with red logo and place it next to the rustic horn candleholder' [task_sampler.py: 1136] +05/27 12:02:22 INFO: [Worker 0] Worker 0 house 6437 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/27 12:02:22 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 12:03:59 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 12:19:20 INFO: [Worker 0] Worker 0 house 6437 episode 0 object objamilkcarton_aa9103c0122246f68dd367e640df32bb_1_0_4 completed with success=False [pipeline.py: 1114] +05/27 12:19:23 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 12:19:29 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6437_ceiling.xml [task_sampler.py: 797] +05/27 12:19:29 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6437, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 12:19:29 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 12:19:29 INFO: [Worker 0] randomize_scene: Setting poses for 80 objects [json_eval_task_sampler.py: 686] +05/27 12:19:29 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 12:19:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 12:19:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 12:19:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 12:19:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 12:19:29 INFO: [Worker 0] Sampled task 'Pick up the small glossy turquoise eye of horus amulet and place it next to the dark laptop' [task_sampler.py: 1136] +05/27 12:19:29 INFO: [Worker 0] Worker 0 house 6437 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/27 12:19:29 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 12:36:24 INFO: [Worker 0] Worker 0 house 6437 episode 1 object objaamulet_7300d219ed944585ace4b2509bef4f6e_1_0_3 completed with success=False [pipeline.py: 1114] +05/27 12:36:28 INFO: [Worker 0] Batching and saving trajectory data for house_6437: 2 episodes [pipeline.py: 233] +05/27 12:36:28 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 12:36:30 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 12:36:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 12:36:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 12:36:32 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6437 [save_utils.py: 703] +05/27 12:36:32 INFO: [Worker 0] Successfully saved trajectory data for house_6437 in 4.72s (batch: 4.55s, save: 0.18s) [pipeline.py: 280] +05/27 12:36:33 WARNING: [Worker 0] No trajectory data to save for house_6437 [pipeline.py: 229] +05/27 12:36:33 INFO: [Worker 0] Worker 0 completed house 6437: 0/2 successful episodes [pipeline.py: 1243] +05/27 12:36:33 INFO: [Worker 0] Worker 0 starting house 6469 (index 72/115) [pipeline.py: 473] +05/27 12:36:33 INFO: [Worker 0] Loaded 1 episodes for house 6469 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 12:36:33 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 12:36:37 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6469_ceiling.xml [task_sampler.py: 797] +05/27 12:36:37 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6469, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 12:36:37 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 12:36:37 INFO: [Worker 0] randomize_scene: Setting poses for 55 objects [json_eval_task_sampler.py: 686] +05/27 12:36:37 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 12:36:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 12:36:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 12:36:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 12:36:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 12:36:37 INFO: [Worker 0] Sampled task 'Pick up the golden crescent moon pink wand and place it next to the laptop computer' [task_sampler.py: 1136] +05/27 12:36:37 INFO: [Worker 0] Worker 0 house 6469 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 12:36:37 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 12:38:15 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 12:49:26 INFO: [Worker 0] Worker 0 house 6469 episode 0 object objadecorativewand_587b79d19e94452b8c825603fcbe834a_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 12:49:30 INFO: [Worker 0] Batching and saving trajectory data for house_6469: 1 episodes [pipeline.py: 233] +05/27 12:49:30 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 12:49:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 12:49:33 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6469 [save_utils.py: 703] +05/27 12:49:33 INFO: [Worker 0] Successfully saved trajectory data for house_6469 in 2.85s (batch: 2.76s, save: 0.09s) [pipeline.py: 280] +05/27 12:49:33 WARNING: [Worker 0] No trajectory data to save for house_6469 [pipeline.py: 229] +05/27 12:49:33 INFO: [Worker 0] Worker 0 completed house 6469: 0/1 successful episodes [pipeline.py: 1243] +05/27 12:49:33 INFO: [Worker 0] Worker 0 starting house 6557 (index 73/115) [pipeline.py: 473] +05/27 12:49:33 INFO: [Worker 0] Loaded 1 episodes for house 6557 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 12:49:33 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 12:49:42 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6557_ceiling.xml [task_sampler.py: 797] +05/27 12:49:42 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6557, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 12:49:42 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 12:49:42 INFO: [Worker 0] randomize_scene: Setting poses for 55 objects [json_eval_task_sampler.py: 686] +05/27 12:49:42 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 12:49:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 12:49:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 12:49:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 12:49:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 12:49:42 INFO: [Worker 0] Sampled task 'Pick up the equipment and place it next to the marblesculpture' [task_sampler.py: 1136] +05/27 12:49:42 INFO: [Worker 0] Worker 0 house 6557 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 12:49:42 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 12:49:42 WARNING: [Worker 0] Could not find object objapartition_c493ffa0f0794041914d9d68dd439699_1_0_4 in scene [object_manager.py: 1238] +05/27 13:05:15 INFO: [Worker 0] Worker 0 house 6557 episode 0 object objatelephonehandset_0ddfdf35baa6475d9ba001a570eaeebd_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 13:05:19 INFO: [Worker 0] Batching and saving trajectory data for house_6557: 1 episodes [pipeline.py: 233] +05/27 13:05:19 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 13:05:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 13:05:21 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6557 [save_utils.py: 703] +05/27 13:05:21 INFO: [Worker 0] Successfully saved trajectory data for house_6557 in 2.79s (batch: 2.70s, save: 0.09s) [pipeline.py: 280] +05/27 13:05:22 WARNING: [Worker 0] No trajectory data to save for house_6557 [pipeline.py: 229] +05/27 13:05:22 INFO: [Worker 0] Worker 0 completed house 6557: 0/1 successful episodes [pipeline.py: 1243] +05/27 13:05:22 INFO: [Worker 0] Worker 0 starting house 6705 (index 74/115) [pipeline.py: 473] +05/27 13:05:22 INFO: [Worker 0] Loaded 1 episodes for house 6705 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 13:05:22 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 13:05:31 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6705_ceiling.xml [task_sampler.py: 797] +05/27 13:05:31 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6705, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 13:05:31 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 13:05:31 INFO: [Worker 0] randomize_scene: Setting poses for 52 objects [json_eval_task_sampler.py: 686] +05/27 13:05:31 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 13:05:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 13:05:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 13:05:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 13:05:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 13:05:31 INFO: [Worker 0] Sampled task 'Pick up the classic red plastic cup with ridges and place it next to the smooth white triangular wedge with texture' [task_sampler.py: 1136] +05/27 13:05:31 INFO: [Worker 0] Worker 0 house 6705 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 13:05:31 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 13:07:06 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 13:17:06 INFO: [Worker 0] Worker 0 house 6705 episode 0 object objaplasticcup_22798b1b718749608a0e729d576727a4_1_0_8 completed with success=False [pipeline.py: 1114] +05/27 13:17:09 INFO: [Worker 0] Batching and saving trajectory data for house_6705: 1 episodes [pipeline.py: 233] +05/27 13:17:09 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 13:17:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 13:17:12 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6705 [save_utils.py: 703] +05/27 13:17:12 INFO: [Worker 0] Successfully saved trajectory data for house_6705 in 2.41s (batch: 2.31s, save: 0.10s) [pipeline.py: 280] +05/27 13:17:12 WARNING: [Worker 0] No trajectory data to save for house_6705 [pipeline.py: 229] +05/27 13:17:12 INFO: [Worker 0] Worker 0 completed house 6705: 0/1 successful episodes [pipeline.py: 1243] +05/27 13:17:12 INFO: [Worker 0] Worker 0 starting house 6767 (index 75/115) [pipeline.py: 473] +05/27 13:17:12 INFO: [Worker 0] Loaded 1 episodes for house 6767 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 13:17:12 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 13:17:14 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6767_ceiling.xml [task_sampler.py: 797] +05/27 13:17:14 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6767, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 13:17:14 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 13:17:14 INFO: [Worker 0] randomize_scene: Setting poses for 19 objects [json_eval_task_sampler.py: 686] +05/27 13:17:14 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 13:17:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 13:17:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 13:17:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 13:17:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 13:17:14 INFO: [Worker 0] Sampled task 'Pick up the transparent soap bottle with dark pump and place it next to the shallow dark round cooking pan' [task_sampler.py: 1136] +05/27 13:17:14 INFO: [Worker 0] Worker 0 house 6767 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 13:17:14 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 13:18:50 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 13:23:45 INFO: [Worker 0] Worker 0 house 6767 episode 0 object soapdispenser_92169e2640439bd67fb105701482b508_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 13:23:49 INFO: [Worker 0] Batching and saving trajectory data for house_6767: 1 episodes [pipeline.py: 233] +05/27 13:23:49 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 13:23:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 13:23:51 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6767 [save_utils.py: 703] +05/27 13:23:51 INFO: [Worker 0] Successfully saved trajectory data for house_6767 in 2.82s (batch: 2.73s, save: 0.09s) [pipeline.py: 280] +05/27 13:23:52 WARNING: [Worker 0] No trajectory data to save for house_6767 [pipeline.py: 229] +05/27 13:23:52 INFO: [Worker 0] Worker 0 completed house 6767: 0/1 successful episodes [pipeline.py: 1243] +05/27 13:23:52 INFO: [Worker 0] Worker 0 starting house 6903 (index 76/115) [pipeline.py: 473] +05/27 13:23:52 INFO: [Worker 0] Loaded 1 episodes for house 6903 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 13:23:52 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 13:24:09 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6903_ceiling.xml [task_sampler.py: 797] +05/27 13:24:09 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6903, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 13:24:09 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 13:24:09 INFO: [Worker 0] randomize_scene: Setting poses for 55 objects [json_eval_task_sampler.py: 686] +05/27 13:24:09 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 13:24:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 13:24:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 13:24:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 13:24:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 13:24:09 INFO: [Worker 0] Sampled task 'Pick up the sleek dark blue triangular wedge and place it next to the plate' [task_sampler.py: 1136] +05/27 13:24:09 INFO: [Worker 0] Worker 0 house 6903 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 13:24:09 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 13:24:09 WARNING: [Worker 0] Could not find object objadecorativepanel_a17676f45b3d483c9dc1910a2eb17269_1_0_5 in scene [object_manager.py: 1238] +05/27 13:25:44 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 13:36:34 INFO: [Worker 0] Worker 0 house 6903 episode 0 object objadecorativewedge_6c209105d3fe4d7db6a3520ceb255e96_1_0_8 completed with success=False [pipeline.py: 1114] +05/27 13:36:37 INFO: [Worker 0] Batching and saving trajectory data for house_6903: 1 episodes [pipeline.py: 233] +05/27 13:36:37 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 13:36:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 13:36:40 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6903 [save_utils.py: 703] +05/27 13:36:40 INFO: [Worker 0] Successfully saved trajectory data for house_6903 in 2.85s (batch: 2.76s, save: 0.09s) [pipeline.py: 280] +05/27 13:36:41 WARNING: [Worker 0] No trajectory data to save for house_6903 [pipeline.py: 229] +05/27 13:36:41 INFO: [Worker 0] Worker 0 completed house 6903: 0/1 successful episodes [pipeline.py: 1243] +05/27 13:36:41 INFO: [Worker 0] Worker 0 starting house 6978 (index 77/115) [pipeline.py: 473] +05/27 13:36:41 INFO: [Worker 0] Loaded 1 episodes for house 6978 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 13:36:41 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 13:36:47 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6978_ceiling.xml [task_sampler.py: 797] +05/27 13:36:47 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6978, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 13:36:47 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 13:36:47 INFO: [Worker 0] randomize_scene: Setting poses for 78 objects [json_eval_task_sampler.py: 686] +05/27 13:36:47 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 13:36:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 13:36:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 13:36:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 13:36:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 13:36:47 INFO: [Worker 0] Sampled task 'Pick up the black high-performance graphics card and place it next to the black metal scope mount with knob' [task_sampler.py: 1136] +05/27 13:36:47 INFO: [Worker 0] Worker 0 house 6978 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 13:36:47 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 13:36:47 WARNING: [Worker 0] Could not find object objacrocodileskull_839c00e0fed14ad38ee276b0e0806a60_1_0_4 in scene [object_manager.py: 1238] +05/27 13:36:47 WARNING: [Worker 0] Could not find object plate_3a462adb63be096cddd3c836fdb52686_1_0_4 in scene [object_manager.py: 1238] +05/27 13:36:47 WARNING: [Worker 0] Could not find object objadentures_9f8a86701e5549c6bf6004b4f58bdd31_1_0_5 in scene [object_manager.py: 1238] +05/27 13:36:47 WARNING: [Worker 0] Could not find object soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_5 in scene [object_manager.py: 1238] +05/27 13:38:30 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 13:54:08 INFO: [Worker 0] Worker 0 house 6978 episode 0 object objagraphicscard_fab5cfb1c5c143878bdfc9be2f3827bb_1_0_3 completed with success=False [pipeline.py: 1114] +05/27 13:54:11 INFO: [Worker 0] Batching and saving trajectory data for house_6978: 1 episodes [pipeline.py: 233] +05/27 13:54:11 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 13:54:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 13:54:14 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6978 [save_utils.py: 703] +05/27 13:54:14 INFO: [Worker 0] Successfully saved trajectory data for house_6978 in 2.31s (batch: 2.22s, save: 0.09s) [pipeline.py: 280] +05/27 13:54:14 WARNING: [Worker 0] No trajectory data to save for house_6978 [pipeline.py: 229] +05/27 13:54:14 INFO: [Worker 0] Worker 0 completed house 6978: 0/1 successful episodes [pipeline.py: 1243] +05/27 13:54:14 INFO: [Worker 0] Worker 0 starting house 7015 (index 78/115) [pipeline.py: 473] +05/27 13:54:14 INFO: [Worker 0] Loaded 1 episodes for house 7015 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 13:54:14 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 13:54:22 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7015_ceiling.xml [task_sampler.py: 797] +05/27 13:54:22 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7015, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 13:54:22 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 13:54:22 INFO: [Worker 0] randomize_scene: Setting poses for 64 objects [json_eval_task_sampler.py: 686] +05/27 13:54:22 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 13:54:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 13:54:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 13:54:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 13:54:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 13:54:22 INFO: [Worker 0] Sampled task 'Pick up the rectangular beige ceramic dish and place it next to the glossy translucent light blue bowl' [task_sampler.py: 1136] +05/27 13:54:22 INFO: [Worker 0] Worker 0 house 7015 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 13:54:22 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 13:54:22 WARNING: [Worker 0] Could not find object statue_c1ca41050692ad4a2d2e80d2a1b1ad5f_1_0_9 in scene [object_manager.py: 1238] +05/27 13:55:58 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 14:08:59 INFO: [Worker 0] Worker 0 house 7015 episode 0 object objaceramicdish_2ad1dfed7b784a2bb12fc7cbcb5f4831_1_0_8 completed with success=False [pipeline.py: 1114] +05/27 14:09:02 INFO: [Worker 0] Batching and saving trajectory data for house_7015: 1 episodes [pipeline.py: 233] +05/27 14:09:02 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 14:09:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 14:09:05 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7015 [save_utils.py: 703] +05/27 14:09:05 INFO: [Worker 0] Successfully saved trajectory data for house_7015 in 2.41s (batch: 2.32s, save: 0.09s) [pipeline.py: 280] +05/27 14:09:05 WARNING: [Worker 0] No trajectory data to save for house_7015 [pipeline.py: 229] +05/27 14:09:05 INFO: [Worker 0] Worker 0 completed house 7015: 0/1 successful episodes [pipeline.py: 1243] +05/27 14:09:05 INFO: [Worker 0] Worker 0 starting house 7083 (index 79/115) [pipeline.py: 473] +05/27 14:09:05 INFO: [Worker 0] Loaded 1 episodes for house 7083 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 14:09:05 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 14:09:34 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7083_ceiling.xml [task_sampler.py: 797] +05/27 14:09:34 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7083, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 14:09:34 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 14:09:34 INFO: [Worker 0] randomize_scene: Setting poses for 89 objects [json_eval_task_sampler.py: 686] +05/27 14:09:34 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 14:09:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 14:09:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 14:09:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 14:09:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 14:09:34 INFO: [Worker 0] Sampled task 'Pick up the blue calendar with mountain design and place it next to the slim gold metallic phone' [task_sampler.py: 1136] +05/27 14:09:34 INFO: [Worker 0] Worker 0 house 7083 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 14:09:34 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 14:09:34 WARNING: [Worker 0] Could not find object objametalbar_2d1809423969400fbf94550978b1bcaa_1_0_8 in scene [object_manager.py: 1238] +05/27 14:28:21 INFO: [Worker 0] Worker 0 house 7083 episode 0 object objawallcalendar_3a39ed927ca343fa905a99dfe9093d5a_2_0_8 completed with success=False [pipeline.py: 1114] +05/27 14:28:25 INFO: [Worker 0] Batching and saving trajectory data for house_7083: 1 episodes [pipeline.py: 233] +05/27 14:28:25 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 14:28:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 14:28:28 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7083 [save_utils.py: 703] +05/27 14:28:28 INFO: [Worker 0] Successfully saved trajectory data for house_7083 in 2.79s (batch: 2.70s, save: 0.09s) [pipeline.py: 280] +05/27 14:28:28 WARNING: [Worker 0] No trajectory data to save for house_7083 [pipeline.py: 229] +05/27 14:28:28 INFO: [Worker 0] Worker 0 completed house 7083: 0/1 successful episodes [pipeline.py: 1243] +05/27 14:28:28 INFO: [Worker 0] Worker 0 starting house 7174 (index 80/115) [pipeline.py: 473] +05/27 14:28:28 INFO: [Worker 0] Loaded 1 episodes for house 7174 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 14:28:28 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 14:28:41 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7174_ceiling.xml [task_sampler.py: 797] +05/27 14:28:41 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7174, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 14:28:41 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 14:28:41 INFO: [Worker 0] randomize_scene: Setting poses for 41 objects [json_eval_task_sampler.py: 686] +05/27 14:28:41 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 14:28:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 14:28:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 14:28:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 14:28:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 14:28:41 INFO: [Worker 0] Sampled task 'Pick up the black rectangular sunglasses and place it next to the mallet' [task_sampler.py: 1136] +05/27 14:28:41 INFO: [Worker 0] Worker 0 house 7174 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 14:28:41 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 14:28:41 WARNING: [Worker 0] Could not find object objacleaningsponge_afd092fac12f4ef8984b80d3d15de232_1_0_9 in scene [object_manager.py: 1238] +05/27 14:42:22 INFO: [Worker 0] Worker 0 house 7174 episode 0 object objasunglasses_c8d8a11e50f74bd390b35e4868984474_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 14:42:25 INFO: [Worker 0] Batching and saving trajectory data for house_7174: 1 episodes [pipeline.py: 233] +05/27 14:42:25 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 14:42:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 14:42:28 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7174 [save_utils.py: 703] +05/27 14:42:28 INFO: [Worker 0] Successfully saved trajectory data for house_7174 in 2.32s (batch: 2.23s, save: 0.09s) [pipeline.py: 280] +05/27 14:42:28 WARNING: [Worker 0] No trajectory data to save for house_7174 [pipeline.py: 229] +05/27 14:42:28 INFO: [Worker 0] Worker 0 completed house 7174: 0/1 successful episodes [pipeline.py: 1243] +05/27 14:42:28 INFO: [Worker 0] Worker 0 starting house 7286 (index 81/115) [pipeline.py: 473] +05/27 14:42:28 INFO: [Worker 0] Loaded 1 episodes for house 7286 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 14:42:28 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 14:42:43 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7286_ceiling.xml [task_sampler.py: 797] +05/27 14:42:43 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7286, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 14:42:43 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 14:42:43 INFO: [Worker 0] randomize_scene: Setting poses for 19 objects [json_eval_task_sampler.py: 686] +05/27 14:42:43 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 14:42:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 14:42:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 14:42:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 14:42:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 14:42:43 INFO: [Worker 0] Sampled task 'Pick up the pink gnome with beard and place it next to the glossy translucent light blue bowl' [task_sampler.py: 1136] +05/27 14:42:43 INFO: [Worker 0] Worker 0 house 7286 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 14:42:43 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 14:44:21 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 14:44:38 INFO: [Worker 0] Worker 0 house 7286 episode 0 object objagardengnome_d2bbb5477fac472ca10ab8370aa18aae_1_0_2 completed with success=True [pipeline.py: 1114] +05/27 14:44:42 INFO: [Worker 0] Batching and saving trajectory data for house_7286: 1 episodes [pipeline.py: 233] +05/27 14:44:42 INFO: [Worker 0] Preparing episode data: 43 timesteps [save_utils.py: 284] +05/27 14:44:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 14:44:44 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7286 [save_utils.py: 703] +05/27 14:44:44 INFO: [Worker 0] Successfully saved trajectory data for house_7286 in 2.16s (batch: 2.13s, save: 0.03s) [pipeline.py: 280] +05/27 14:44:44 WARNING: [Worker 0] No trajectory data to save for house_7286 [pipeline.py: 229] +05/27 14:44:44 INFO: [Worker 0] Worker 0 completed house 7286: 1/1 successful episodes [pipeline.py: 1243] +05/27 14:44:44 INFO: [Worker 0] Worker 0 starting house 7346 (index 82/115) [pipeline.py: 473] +05/27 14:44:44 INFO: [Worker 0] Loaded 1 episodes for house 7346 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 14:44:44 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 14:45:12 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7346_ceiling.xml [task_sampler.py: 797] +05/27 14:45:12 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7346, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 14:45:12 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 14:45:12 INFO: [Worker 0] randomize_scene: Setting poses for 78 objects [json_eval_task_sampler.py: 686] +05/27 14:45:12 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 14:45:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 14:45:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 14:45:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 14:45:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 14:45:12 INFO: [Worker 0] Sampled task 'Pick up the tableware and place it next to the laptop computer' [task_sampler.py: 1136] +05/27 14:45:12 INFO: [Worker 0] Worker 0 house 7346 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 14:45:12 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 14:46:54 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 15:04:25 INFO: [Worker 0] Worker 0 house 7346 episode 0 object bowl_80746f55d05634985152668dea7876a0_1_0_4 completed with success=False [pipeline.py: 1114] +05/27 15:04:29 INFO: [Worker 0] Batching and saving trajectory data for house_7346: 1 episodes [pipeline.py: 233] +05/27 15:04:29 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 15:04:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 15:04:32 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7346 [save_utils.py: 703] +05/27 15:04:32 INFO: [Worker 0] Successfully saved trajectory data for house_7346 in 2.86s (batch: 2.77s, save: 0.09s) [pipeline.py: 280] +05/27 15:04:33 WARNING: [Worker 0] No trajectory data to save for house_7346 [pipeline.py: 229] +05/27 15:04:33 INFO: [Worker 0] Worker 0 completed house 7346: 0/1 successful episodes [pipeline.py: 1243] +05/27 15:04:33 INFO: [Worker 0] Worker 0 starting house 7396 (index 83/115) [pipeline.py: 473] +05/27 15:04:33 INFO: [Worker 0] Loaded 1 episodes for house 7396 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 15:04:33 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 15:04:47 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7396_ceiling.xml [task_sampler.py: 797] +05/27 15:04:47 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7396, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 15:04:47 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 15:04:47 INFO: [Worker 0] randomize_scene: Setting poses for 36 objects [json_eval_task_sampler.py: 686] +05/27 15:04:47 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 15:04:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 15:04:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 15:04:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 15:04:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 15:04:47 INFO: [Worker 0] Sampled task 'Pick up the golden crimped pastry with crisscross pattern and place it next to the veggie' [task_sampler.py: 1136] +05/27 15:04:47 INFO: [Worker 0] Worker 0 house 7396 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 15:04:47 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 15:04:47 WARNING: [Worker 0] Could not find object objakylix_5151f64b23fa4e9491f064575622af19_1_0_7 in scene [object_manager.py: 1238] +05/27 15:06:27 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 15:14:51 INFO: [Worker 0] Worker 0 house 7396 episode 0 object objapastry_5c98cf58df074aa89633a055ddef2e49_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 15:14:55 INFO: [Worker 0] Batching and saving trajectory data for house_7396: 1 episodes [pipeline.py: 233] +05/27 15:14:55 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 15:14:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 15:14:58 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7396 [save_utils.py: 703] +05/27 15:14:58 INFO: [Worker 0] Successfully saved trajectory data for house_7396 in 2.78s (batch: 2.69s, save: 0.09s) [pipeline.py: 280] +05/27 15:14:58 WARNING: [Worker 0] No trajectory data to save for house_7396 [pipeline.py: 229] +05/27 15:14:58 INFO: [Worker 0] Worker 0 completed house 7396: 0/1 successful episodes [pipeline.py: 1243] +05/27 15:14:58 INFO: [Worker 0] Worker 0 starting house 7453 (index 84/115) [pipeline.py: 473] +05/27 15:14:58 INFO: [Worker 0] Loaded 1 episodes for house 7453 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 15:14:58 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 15:15:08 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/27 15:15:12 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7453_ceiling.xml [task_sampler.py: 797] +05/27 15:15:12 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7453, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 15:15:12 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 15:15:12 INFO: [Worker 0] randomize_scene: Setting poses for 63 objects [json_eval_task_sampler.py: 686] +05/27 15:15:12 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 15:15:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 15:15:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 15:15:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 15:15:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 15:15:12 INFO: [Worker 0] Sampled task 'Pick up the white stand with red flag and place it next to the dentures' [task_sampler.py: 1136] +05/27 15:15:12 INFO: [Worker 0] Worker 0 house 7453 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 15:15:12 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 15:15:12 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_4 in scene [object_manager.py: 1238] +05/27 15:31:06 INFO: [Worker 0] Worker 0 house 7453 episode 0 object objamarkerstand_4b59e422673a438685b77375029f7926_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 15:31:09 INFO: [Worker 0] Batching and saving trajectory data for house_7453: 1 episodes [pipeline.py: 233] +05/27 15:31:09 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 15:31:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 15:31:12 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7453 [save_utils.py: 703] +05/27 15:31:12 INFO: [Worker 0] Successfully saved trajectory data for house_7453 in 2.70s (batch: 2.61s, save: 0.09s) [pipeline.py: 280] +05/27 15:31:13 WARNING: [Worker 0] No trajectory data to save for house_7453 [pipeline.py: 229] +05/27 15:31:13 INFO: [Worker 0] Worker 0 completed house 7453: 0/1 successful episodes [pipeline.py: 1243] +05/27 15:31:13 INFO: [Worker 0] Worker 0 starting house 7568 (index 85/115) [pipeline.py: 473] +05/27 15:31:13 INFO: [Worker 0] Loaded 1 episodes for house 7568 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 15:31:13 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 15:31:14 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7568_ceiling.xml [task_sampler.py: 797] +05/27 15:31:14 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7568, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 15:31:14 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 15:31:14 INFO: [Worker 0] randomize_scene: Setting poses for 15 objects [json_eval_task_sampler.py: 686] +05/27 15:31:15 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 15:31:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 15:31:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 15:31:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 15:31:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 15:31:15 INFO: [Worker 0] Sampled task 'Pick up the gavel with brown handle and brass and place it next to the topographicalmap' [task_sampler.py: 1136] +05/27 15:31:15 INFO: [Worker 0] Worker 0 house 7568 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 15:31:15 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 15:32:51 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 15:38:04 INFO: [Worker 0] Worker 0 house 7568 episode 0 object objagavel_2ae6147628c04ac7a28bfe2b5982b4c3_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 15:38:07 INFO: [Worker 0] Batching and saving trajectory data for house_7568: 1 episodes [pipeline.py: 233] +05/27 15:38:07 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 15:38:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 15:38:10 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7568 [save_utils.py: 703] +05/27 15:38:10 INFO: [Worker 0] Successfully saved trajectory data for house_7568 in 2.42s (batch: 2.33s, save: 0.09s) [pipeline.py: 280] +05/27 15:38:10 WARNING: [Worker 0] No trajectory data to save for house_7568 [pipeline.py: 229] +05/27 15:38:10 INFO: [Worker 0] Worker 0 completed house 7568: 0/1 successful episodes [pipeline.py: 1243] +05/27 15:38:10 INFO: [Worker 0] Worker 0 starting house 7668 (index 86/115) [pipeline.py: 473] +05/27 15:38:10 INFO: [Worker 0] Loaded 1 episodes for house 7668 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 15:38:10 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 15:38:23 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7668_ceiling.xml [task_sampler.py: 797] +05/27 15:38:23 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7668, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 15:38:23 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 15:38:23 INFO: [Worker 0] randomize_scene: Setting poses for 62 objects [json_eval_task_sampler.py: 686] +05/27 15:38:23 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 15:38:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 15:38:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 15:38:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 15:38:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 15:38:23 INFO: [Worker 0] Sampled task 'Pick up the blue eye with eyelashes and place it next to the spray bottle' [task_sampler.py: 1136] +05/27 15:38:23 INFO: [Worker 0] Worker 0 house 7668 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 15:38:23 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 15:38:23 WARNING: [Worker 0] Could not find object objaglove_437e50e2a7b441ba87d54392c39c0baf_1_0_8 in scene [object_manager.py: 1238] +05/27 15:38:23 WARNING: [Worker 0] Could not find object objacandywrapper_f63a19caad054232bada31bf9dda010b_1_0_8 in scene [object_manager.py: 1238] +05/27 15:40:01 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 15:53:09 INFO: [Worker 0] Worker 0 house 7668 episode 0 object objadecorativeeye_9d390baaeec94960808345f88af56997_1_0_8 completed with success=False [pipeline.py: 1114] +05/27 15:53:13 INFO: [Worker 0] Batching and saving trajectory data for house_7668: 1 episodes [pipeline.py: 233] +05/27 15:53:13 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 15:53:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 15:53:16 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7668 [save_utils.py: 703] +05/27 15:53:16 INFO: [Worker 0] Successfully saved trajectory data for house_7668 in 2.83s (batch: 2.74s, save: 0.09s) [pipeline.py: 280] +05/27 15:53:16 WARNING: [Worker 0] No trajectory data to save for house_7668 [pipeline.py: 229] +05/27 15:53:16 INFO: [Worker 0] Worker 0 completed house 7668: 0/1 successful episodes [pipeline.py: 1243] +05/27 15:53:16 INFO: [Worker 0] Worker 0 starting house 7765 (index 87/115) [pipeline.py: 473] +05/27 15:53:16 INFO: [Worker 0] Loaded 1 episodes for house 7765 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 15:53:16 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 15:53:25 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7765_ceiling.xml [task_sampler.py: 797] +05/27 15:53:25 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7765, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 15:53:25 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 15:53:25 INFO: [Worker 0] randomize_scene: Setting poses for 36 objects [json_eval_task_sampler.py: 686] +05/27 15:53:25 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 15:53:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 15:53:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 15:53:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 15:53:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 15:53:25 INFO: [Worker 0] Sampled task 'Pick up the futuristic purple toy blaster with accents and place it next to the yellow striped airship' [task_sampler.py: 1136] +05/27 15:53:25 INFO: [Worker 0] Worker 0 house 7765 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 15:53:25 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 15:55:01 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 15:55:51 INFO: [Worker 0] Worker 0 house 7765 episode 0 object objatoyblaster_bd41ea9e538343b3a6f90b159a219d04_1_0_6 completed with success=True [pipeline.py: 1114] +05/27 15:55:54 INFO: [Worker 0] Batching and saving trajectory data for house_7765: 1 episodes [pipeline.py: 233] +05/27 15:55:54 INFO: [Worker 0] Preparing episode data: 45 timesteps [save_utils.py: 284] +05/27 15:55:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 15:55:57 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7765 [save_utils.py: 703] +05/27 15:55:57 INFO: [Worker 0] Successfully saved trajectory data for house_7765 in 2.48s (batch: 2.45s, save: 0.03s) [pipeline.py: 280] +05/27 15:55:58 WARNING: [Worker 0] No trajectory data to save for house_7765 [pipeline.py: 229] +05/27 15:55:58 INFO: [Worker 0] Worker 0 completed house 7765: 1/1 successful episodes [pipeline.py: 1243] +05/27 15:55:58 INFO: [Worker 0] Worker 0 starting house 7856 (index 88/115) [pipeline.py: 473] +05/27 15:55:58 INFO: [Worker 0] Loaded 1 episodes for house 7856 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 15:55:58 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 15:56:30 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7856_ceiling.xml [task_sampler.py: 797] +05/27 15:56:30 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7856, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 15:56:30 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 15:56:30 INFO: [Worker 0] randomize_scene: Setting poses for 71 objects [json_eval_task_sampler.py: 686] +05/27 15:56:30 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 15:56:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 15:56:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 15:56:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 15:56:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 15:56:30 INFO: [Worker 0] Sampled task 'Pick up the pink hexagonal headed screw and place it next to the brown loaf bread' [task_sampler.py: 1136] +05/27 15:56:30 INFO: [Worker 0] Worker 0 house 7856 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 15:56:30 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 15:56:30 WARNING: [Worker 0] Could not find object objaspraycan_f761c777f54e414dba0b54dbab6453c7_1_0_5 in scene [object_manager.py: 1238] +05/27 15:58:05 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 16:13:32 INFO: [Worker 0] Worker 0 house 7856 episode 0 object objascrew_3c8aee2219d3478c877857da97042133_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 16:13:36 INFO: [Worker 0] Batching and saving trajectory data for house_7856: 1 episodes [pipeline.py: 233] +05/27 16:13:36 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 16:13:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 16:13:39 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7856 [save_utils.py: 703] +05/27 16:13:39 INFO: [Worker 0] Successfully saved trajectory data for house_7856 in 2.42s (batch: 2.33s, save: 0.09s) [pipeline.py: 280] +05/27 16:13:39 WARNING: [Worker 0] No trajectory data to save for house_7856 [pipeline.py: 229] +05/27 16:13:39 INFO: [Worker 0] Worker 0 completed house 7856: 0/1 successful episodes [pipeline.py: 1243] +05/27 16:13:39 INFO: [Worker 0] Worker 0 starting house 7970 (index 89/115) [pipeline.py: 473] +05/27 16:13:39 INFO: [Worker 0] Loaded 1 episodes for house 7970 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 16:13:39 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 16:13:57 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7970_ceiling.xml [task_sampler.py: 797] +05/27 16:13:57 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7970, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 16:13:57 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 16:13:57 INFO: [Worker 0] randomize_scene: Setting poses for 33 objects [json_eval_task_sampler.py: 686] +05/27 16:13:57 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 16:13:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 16:13:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 16:13:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 16:13:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 16:13:57 INFO: [Worker 0] Sampled task 'Pick up the light rubber mallet with handle and place it next to the rugged gray rocky terrain with moss' [task_sampler.py: 1136] +05/27 16:13:57 INFO: [Worker 0] Worker 0 house 7970 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 16:13:57 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 16:13:57 WARNING: [Worker 0] Could not find object objatoy_4da717f372044adc85144a15e5479189_1_0_6 in scene [object_manager.py: 1238] +05/27 16:13:57 WARNING: [Worker 0] Could not find object knife_8409451f726b7f0640a91ddd7ae630cf_1_0_6 in scene [object_manager.py: 1238] +05/27 16:16:33 INFO: [Worker 0] Worker 0 house 7970 episode 0 object objarubbermallet_f6f3eee2d418463bbab1abe93e274d60_1_0_6 completed with success=True [pipeline.py: 1114] +05/27 16:16:37 INFO: [Worker 0] Batching and saving trajectory data for house_7970: 1 episodes [pipeline.py: 233] +05/27 16:16:37 INFO: [Worker 0] Preparing episode data: 56 timesteps [save_utils.py: 284] +05/27 16:16:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 16:16:40 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7970 [save_utils.py: 703] +05/27 16:16:40 INFO: [Worker 0] Successfully saved trajectory data for house_7970 in 2.54s (batch: 2.51s, save: 0.03s) [pipeline.py: 280] +05/27 16:16:40 WARNING: [Worker 0] No trajectory data to save for house_7970 [pipeline.py: 229] +05/27 16:16:40 INFO: [Worker 0] Worker 0 completed house 7970: 1/1 successful episodes [pipeline.py: 1243] +05/27 16:16:40 INFO: [Worker 0] Worker 0 starting house 8056 (index 90/115) [pipeline.py: 473] +05/27 16:16:40 INFO: [Worker 0] Loaded 1 episodes for house 8056 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 16:16:40 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 16:16:55 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8056_ceiling.xml [task_sampler.py: 797] +05/27 16:16:55 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8056, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 16:16:55 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 16:16:55 INFO: [Worker 0] randomize_scene: Setting poses for 14 objects [json_eval_task_sampler.py: 686] +05/27 16:16:55 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 16:16:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 16:16:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 16:16:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 16:16:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 16:16:55 INFO: [Worker 0] Sampled task 'Pick up the dark telephone and place it next to the table lamp' [task_sampler.py: 1136] +05/27 16:16:55 INFO: [Worker 0] Worker 0 house 8056 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 16:16:55 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 16:18:37 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 16:21:19 INFO: [Worker 0] Worker 0 house 8056 episode 0 object objatelephone_6f17039417674bb7b44d5dd823cb1c72_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 16:21:23 INFO: [Worker 0] Batching and saving trajectory data for house_8056: 1 episodes [pipeline.py: 233] +05/27 16:21:23 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 16:21:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 16:21:25 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8056 [save_utils.py: 703] +05/27 16:21:25 INFO: [Worker 0] Successfully saved trajectory data for house_8056 in 2.70s (batch: 2.61s, save: 0.09s) [pipeline.py: 280] +05/27 16:21:26 WARNING: [Worker 0] No trajectory data to save for house_8056 [pipeline.py: 229] +05/27 16:21:26 INFO: [Worker 0] Worker 0 completed house 8056: 0/1 successful episodes [pipeline.py: 1243] +05/27 16:21:26 INFO: [Worker 0] Worker 0 starting house 8125 (index 91/115) [pipeline.py: 473] +05/27 16:21:26 INFO: [Worker 0] Loaded 1 episodes for house 8125 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 16:21:26 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 16:21:33 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8125_ceiling.xml [task_sampler.py: 797] +05/27 16:21:33 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8125, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 16:21:33 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 16:21:33 INFO: [Worker 0] randomize_scene: Setting poses for 62 objects [json_eval_task_sampler.py: 686] +05/27 16:21:33 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 16:21:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 16:21:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 16:21:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 16:21:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 16:21:33 INFO: [Worker 0] Sampled task 'Pick up the colorful cube and place it next to the dark rectangular plaque with engraved text' [task_sampler.py: 1136] +05/27 16:21:33 INFO: [Worker 0] Worker 0 house 8125 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 16:21:33 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 16:23:11 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 16:36:54 INFO: [Worker 0] Worker 0 house 8125 episode 0 object objapuzzlecube_a330167eb4534097af6f386765b93f04_1_0_9 completed with success=False [pipeline.py: 1114] +05/27 16:36:57 INFO: [Worker 0] Batching and saving trajectory data for house_8125: 1 episodes [pipeline.py: 233] +05/27 16:36:57 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 16:37:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 16:37:00 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8125 [save_utils.py: 703] +05/27 16:37:00 INFO: [Worker 0] Successfully saved trajectory data for house_8125 in 2.32s (batch: 2.23s, save: 0.09s) [pipeline.py: 280] +05/27 16:37:00 WARNING: [Worker 0] No trajectory data to save for house_8125 [pipeline.py: 229] +05/27 16:37:00 INFO: [Worker 0] Worker 0 completed house 8125: 0/1 successful episodes [pipeline.py: 1243] +05/27 16:37:00 INFO: [Worker 0] Worker 0 starting house 8224 (index 92/115) [pipeline.py: 473] +05/27 16:37:00 INFO: [Worker 0] Loaded 1 episodes for house 8224 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 16:37:00 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 16:37:26 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8224_ceiling.xml [task_sampler.py: 797] +05/27 16:37:26 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8224, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 16:37:26 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 16:37:26 INFO: [Worker 0] randomize_scene: Setting poses for 85 objects [json_eval_task_sampler.py: 686] +05/27 16:37:26 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 16:37:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 16:37:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 16:37:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 16:37:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 16:37:26 INFO: [Worker 0] Sampled task 'Pick up the black wireless ergonomic mouse and place it next to the gray bowl' [task_sampler.py: 1136] +05/27 16:37:26 INFO: [Worker 0] Worker 0 house 8224 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 16:37:26 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 16:37:26 WARNING: [Worker 0] Could not find object objaminiaturelighthouse_bde6dcab0a89413eba4422da59f19cef_1_0_7 in scene [object_manager.py: 1238] +05/27 16:39:01 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 16:52:41 INFO: [Worker 0] Worker 0 house 8224 episode 0 object objacomputermouse_2b70993763034bef8587d3730c7ca8ff_1_0_9 completed with success=False [pipeline.py: 1114] +05/27 16:52:45 INFO: [Worker 0] Batching and saving trajectory data for house_8224: 1 episodes [pipeline.py: 233] +05/27 16:52:45 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 16:52:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 16:52:47 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8224 [save_utils.py: 703] +05/27 16:52:47 INFO: [Worker 0] Successfully saved trajectory data for house_8224 in 2.32s (batch: 2.23s, save: 0.09s) [pipeline.py: 280] +05/27 16:52:47 WARNING: [Worker 0] No trajectory data to save for house_8224 [pipeline.py: 229] +05/27 16:52:47 INFO: [Worker 0] Worker 0 completed house 8224: 0/1 successful episodes [pipeline.py: 1243] +05/27 16:52:47 INFO: [Worker 0] Worker 0 starting house 8277 (index 93/115) [pipeline.py: 473] +05/27 16:52:47 INFO: [Worker 0] Loaded 1 episodes for house 8277 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 16:52:47 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 16:52:59 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8277_ceiling.xml [task_sampler.py: 797] +05/27 16:52:59 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8277, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 16:52:59 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 16:52:59 INFO: [Worker 0] randomize_scene: Setting poses for 44 objects [json_eval_task_sampler.py: 686] +05/27 16:52:59 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 16:52:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 16:52:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 16:52:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 16:52:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 16:52:59 INFO: [Worker 0] Sampled task 'Pick up the antique dark metal knocker with figure and place it next to the black grenade with purple panels' [task_sampler.py: 1136] +05/27 16:52:59 INFO: [Worker 0] Worker 0 house 8277 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 16:52:59 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 16:54:40 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 17:04:52 INFO: [Worker 0] Worker 0 house 8277 episode 0 object objadoorknocker_1186251805584e29b3fd39f83a54c8ae_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 17:04:55 INFO: [Worker 0] Batching and saving trajectory data for house_8277: 1 episodes [pipeline.py: 233] +05/27 17:04:55 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 17:04:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 17:04:57 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8277 [save_utils.py: 703] +05/27 17:04:57 INFO: [Worker 0] Successfully saved trajectory data for house_8277 in 2.37s (batch: 2.28s, save: 0.09s) [pipeline.py: 280] +05/27 17:04:58 WARNING: [Worker 0] No trajectory data to save for house_8277 [pipeline.py: 229] +05/27 17:04:58 INFO: [Worker 0] Worker 0 completed house 8277: 0/1 successful episodes [pipeline.py: 1243] +05/27 17:04:58 INFO: [Worker 0] Worker 0 starting house 8386 (index 94/115) [pipeline.py: 473] +05/27 17:04:58 INFO: [Worker 0] Loaded 1 episodes for house 8386 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 17:04:58 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 17:05:01 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8386_ceiling.xml [task_sampler.py: 797] +05/27 17:05:01 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8386, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 17:05:01 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 17:05:01 INFO: [Worker 0] randomize_scene: Setting poses for 47 objects [json_eval_task_sampler.py: 686] +05/27 17:05:01 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 17:05:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 17:05:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 17:05:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 17:05:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 17:05:01 INFO: [Worker 0] Sampled task 'Pick up the wooden gear and place it next to the gray bowl' [task_sampler.py: 1136] +05/27 17:05:01 INFO: [Worker 0] Worker 0 house 8386 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 17:05:01 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 17:05:01 WARNING: [Worker 0] Could not find object objaclog_b931698a3f5f4fb2a1c27aae7f6120e2_1_0_5 in scene [object_manager.py: 1238] +05/27 17:05:01 WARNING: [Worker 0] Could not find object objaguitareffectspedal_8c6e5265f19b49709119c2628c2bdf3f_1_0_5 in scene [object_manager.py: 1238] +05/27 17:06:41 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 17:16:25 INFO: [Worker 0] Worker 0 house 8386 episode 0 object objamechanicalmodel_dafd23d4b0c5400da70f6aaf5782457b_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 17:16:28 INFO: [Worker 0] Batching and saving trajectory data for house_8386: 1 episodes [pipeline.py: 233] +05/27 17:16:28 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 17:16:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 17:16:30 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8386 [save_utils.py: 703] +05/27 17:16:30 INFO: [Worker 0] Successfully saved trajectory data for house_8386 in 2.31s (batch: 2.22s, save: 0.09s) [pipeline.py: 280] +05/27 17:16:31 WARNING: [Worker 0] No trajectory data to save for house_8386 [pipeline.py: 229] +05/27 17:16:31 INFO: [Worker 0] Worker 0 completed house 8386: 0/1 successful episodes [pipeline.py: 1243] +05/27 17:16:31 INFO: [Worker 0] Worker 0 starting house 8421 (index 95/115) [pipeline.py: 473] +05/27 17:16:31 INFO: [Worker 0] Loaded 2 episodes for house 8421 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 17:16:31 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 17:16:43 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8421_ceiling.xml [task_sampler.py: 797] +05/27 17:16:43 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8421, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 17:16:43 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 17:16:43 INFO: [Worker 0] randomize_scene: Setting poses for 76 objects [json_eval_task_sampler.py: 686] +05/27 17:16:43 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 17:16:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 17:16:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 17:16:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 17:16:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 17:16:43 INFO: [Worker 0] Sampled task 'Pick up the cylindrical dark nhl pencilcase and place it next to the small red barn model with windows' [task_sampler.py: 1136] +05/27 17:16:43 INFO: [Worker 0] Worker 0 house 8421 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/27 17:16:43 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 17:16:43 WARNING: [Worker 0] Could not find object objabouquet_8dab593c78374d59abcf66c8185249cb_1_0_8 in scene [object_manager.py: 1238] +05/27 17:16:43 WARNING: [Worker 0] Could not find object cellulartelephone_1fa394556eb37156656d60fc604d4668_2_0_8 in scene [object_manager.py: 1238] +05/27 17:18:24 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 17:34:13 INFO: [Worker 0] Worker 0 house 8421 episode 0 object objapencilcase_07e5a1bc68f2433eb8fb3db3582ec3d9_1_0_4 completed with success=False [pipeline.py: 1114] +05/27 17:34:17 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 17:34:22 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8421_ceiling.xml [task_sampler.py: 797] +05/27 17:34:22 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8421, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 17:34:22 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 17:34:22 INFO: [Worker 0] randomize_scene: Setting poses for 76 objects [json_eval_task_sampler.py: 686] +05/27 17:34:22 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 17:34:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 17:34:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 17:34:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 17:34:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 17:34:22 INFO: [Worker 0] Sampled task 'Pick up the crumpledpaper and place it next to the soap bottle' [task_sampler.py: 1136] +05/27 17:34:22 INFO: [Worker 0] Worker 0 house 8421 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/27 17:34:22 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 17:34:22 WARNING: [Worker 0] Could not find object objabouquet_8dab593c78374d59abcf66c8185249cb_1_0_8 in scene [object_manager.py: 1238] +05/27 17:34:22 WARNING: [Worker 0] Could not find object cellulartelephone_1fa394556eb37156656d60fc604d4668_2_0_8 in scene [object_manager.py: 1238] +05/27 17:36:03 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 17:51:36 INFO: [Worker 0] Worker 0 house 8421 episode 1 object objacrumpledpaper_bab9b0a4a3194165be4ac939c565d39f_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 17:51:40 INFO: [Worker 0] Batching and saving trajectory data for house_8421: 2 episodes [pipeline.py: 233] +05/27 17:51:40 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 17:51:43 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 17:51:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 17:51:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 17:51:45 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8421 [save_utils.py: 703] +05/27 17:51:45 INFO: [Worker 0] Successfully saved trajectory data for house_8421 in 5.58s (batch: 5.41s, save: 0.18s) [pipeline.py: 280] +05/27 17:51:46 WARNING: [Worker 0] No trajectory data to save for house_8421 [pipeline.py: 229] +05/27 17:51:46 INFO: [Worker 0] Worker 0 completed house 8421: 0/2 successful episodes [pipeline.py: 1243] +05/27 17:51:46 INFO: [Worker 0] Worker 0 starting house 8428 (index 96/115) [pipeline.py: 473] +05/27 17:51:46 INFO: [Worker 0] Loaded 1 episodes for house 8428 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 17:51:46 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 17:51:59 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8428_ceiling.xml [task_sampler.py: 797] +05/27 17:51:59 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8428, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 17:51:59 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 17:51:59 INFO: [Worker 0] randomize_scene: Setting poses for 30 objects [json_eval_task_sampler.py: 686] +05/27 17:51:59 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 17:51:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 17:51:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 17:51:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 17:51:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 17:51:59 INFO: [Worker 0] Sampled task 'Pick up the chisel with wooden handle and place it next to the purple rectangular shiny quilted pillow' [task_sampler.py: 1136] +05/27 17:51:59 INFO: [Worker 0] Worker 0 house 8428 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 17:51:59 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 17:51:59 WARNING: [Worker 0] Could not find object objanameplate_e8fa71a9f9394ea68e6e60ac33f7f27d_1_0_7 in scene [object_manager.py: 1238] +05/27 17:51:59 WARNING: [Worker 0] Could not find object objawoodendowel_20ea40d2c37347e8831af61307c1f508_1_0_7 in scene [object_manager.py: 1238] +05/27 17:53:41 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 18:01:04 INFO: [Worker 0] Worker 0 house 8428 episode 0 object objachisel_d40e8b39928a45d6a81eebe1c3149883_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 18:01:07 INFO: [Worker 0] Batching and saving trajectory data for house_8428: 1 episodes [pipeline.py: 233] +05/27 18:01:07 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 18:01:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 18:01:09 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8428 [save_utils.py: 703] +05/27 18:01:09 INFO: [Worker 0] Successfully saved trajectory data for house_8428 in 2.34s (batch: 2.25s, save: 0.09s) [pipeline.py: 280] +05/27 18:01:10 WARNING: [Worker 0] No trajectory data to save for house_8428 [pipeline.py: 229] +05/27 18:01:10 INFO: [Worker 0] Worker 0 completed house 8428: 0/1 successful episodes [pipeline.py: 1243] +05/27 18:01:10 INFO: [Worker 0] Worker 0 starting house 8506 (index 97/115) [pipeline.py: 473] +05/27 18:01:10 INFO: [Worker 0] Loaded 1 episodes for house 8506 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 18:01:10 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 18:01:22 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8506_ceiling.xml [task_sampler.py: 797] +05/27 18:01:22 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8506, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 18:01:22 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 18:01:22 INFO: [Worker 0] randomize_scene: Setting poses for 32 objects [json_eval_task_sampler.py: 686] +05/27 18:01:22 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 18:01:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 18:01:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 18:01:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 18:01:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 18:01:22 INFO: [Worker 0] Sampled task 'Pick up the round brown bread loaf and place it next to the red glass vase' [task_sampler.py: 1136] +05/27 18:01:22 INFO: [Worker 0] Worker 0 house 8506 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 18:01:22 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 18:01:22 WARNING: [Worker 0] Could not find object objaanimalmodel_f6e32918e34a420ca8f2207026242b7e_1_0_3 in scene [object_manager.py: 1238] +05/27 18:03:01 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 18:09:57 INFO: [Worker 0] Worker 0 house 8506 episode 0 object bread_41716c58b3d4c7691e7c0a1ca9c91854_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 18:10:01 INFO: [Worker 0] Batching and saving trajectory data for house_8506: 1 episodes [pipeline.py: 233] +05/27 18:10:01 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 18:10:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 18:10:04 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8506 [save_utils.py: 703] +05/27 18:10:04 INFO: [Worker 0] Successfully saved trajectory data for house_8506 in 2.84s (batch: 2.75s, save: 0.09s) [pipeline.py: 280] +05/27 18:10:04 WARNING: [Worker 0] No trajectory data to save for house_8506 [pipeline.py: 229] +05/27 18:10:04 INFO: [Worker 0] Worker 0 completed house 8506: 0/1 successful episodes [pipeline.py: 1243] +05/27 18:10:04 INFO: [Worker 0] Worker 0 starting house 8627 (index 98/115) [pipeline.py: 473] +05/27 18:10:04 INFO: [Worker 0] Loaded 1 episodes for house 8627 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 18:10:04 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 18:10:13 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8627_ceiling.xml [task_sampler.py: 797] +05/27 18:10:13 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8627, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 18:10:13 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 18:10:13 INFO: [Worker 0] randomize_scene: Setting poses for 47 objects [json_eval_task_sampler.py: 686] +05/27 18:10:13 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 18:10:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 18:10:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 18:10:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 18:10:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 18:10:13 INFO: [Worker 0] Sampled task 'Pick up the spray bottle and place it next to the small stemmed red apple' [task_sampler.py: 1136] +05/27 18:10:13 INFO: [Worker 0] Worker 0 house 8627 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 18:10:13 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 18:10:13 WARNING: [Worker 0] Could not find object plate_b137b580936425a0757a2df506ec58fb_1_0_7 in scene [object_manager.py: 1238] +05/27 18:11:50 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 18:21:03 INFO: [Worker 0] Worker 0 house 8627 episode 0 object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 18:21:07 INFO: [Worker 0] Batching and saving trajectory data for house_8627: 1 episodes [pipeline.py: 233] +05/27 18:21:07 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 18:21:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 18:21:09 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8627 [save_utils.py: 703] +05/27 18:21:09 INFO: [Worker 0] Successfully saved trajectory data for house_8627 in 2.35s (batch: 2.27s, save: 0.09s) [pipeline.py: 280] +05/27 18:21:10 WARNING: [Worker 0] No trajectory data to save for house_8627 [pipeline.py: 229] +05/27 18:21:10 INFO: [Worker 0] Worker 0 completed house 8627: 0/1 successful episodes [pipeline.py: 1243] +05/27 18:21:10 INFO: [Worker 0] Worker 0 starting house 8701 (index 99/115) [pipeline.py: 473] +05/27 18:21:10 INFO: [Worker 0] Loaded 1 episodes for house 8701 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 18:21:10 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 18:21:20 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8701_ceiling.xml [task_sampler.py: 797] +05/27 18:21:20 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8701, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 18:21:20 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 18:21:20 INFO: [Worker 0] randomize_scene: Setting poses for 88 objects [json_eval_task_sampler.py: 686] +05/27 18:21:20 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 18:21:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 18:21:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 18:21:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 18:21:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 18:21:20 INFO: [Worker 0] Sampled task 'Pick up the white rectangular electrical component and place it next to the digital clock' [task_sampler.py: 1136] +05/27 18:21:20 INFO: [Worker 0] Worker 0 house 8701 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 18:21:20 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 18:21:20 WARNING: [Worker 0] Could not find object objaminiaturecastletower_a08a00d32f694f219170f6867cbc7d46_2_0_5 in scene [object_manager.py: 1238] +05/27 18:21:20 WARNING: [Worker 0] Could not find object objadecorativetile_7584f83361f546ed890ae9aa823df1cb_1_0_5 in scene [object_manager.py: 1238] +05/27 18:38:04 INFO: [Worker 0] Worker 0 house 8701 episode 0 object objaelectricalcomponent_aab3af6780ff4bb7a5ec47cb4046d811_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 18:38:08 INFO: [Worker 0] Batching and saving trajectory data for house_8701: 1 episodes [pipeline.py: 233] +05/27 18:38:08 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 18:38:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 18:38:10 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8701 [save_utils.py: 703] +05/27 18:38:10 INFO: [Worker 0] Successfully saved trajectory data for house_8701 in 2.83s (batch: 2.73s, save: 0.10s) [pipeline.py: 280] +05/27 18:38:11 WARNING: [Worker 0] No trajectory data to save for house_8701 [pipeline.py: 229] +05/27 18:38:11 INFO: [Worker 0] Worker 0 completed house 8701: 0/1 successful episodes [pipeline.py: 1243] +05/27 18:38:11 INFO: [Worker 0] Worker 0 starting house 8795 (index 100/115) [pipeline.py: 473] +05/27 18:38:11 INFO: [Worker 0] Loaded 1 episodes for house 8795 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 18:38:11 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 18:38:33 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8795_ceiling.xml [task_sampler.py: 797] +05/27 18:38:33 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8795, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 18:38:33 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 18:38:33 INFO: [Worker 0] randomize_scene: Setting poses for 62 objects [json_eval_task_sampler.py: 686] +05/27 18:38:33 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 18:38:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 18:38:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 18:38:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 18:38:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 18:38:33 INFO: [Worker 0] Sampled task 'Pick up the gray metal rod with perforated top and place it next to the angular dark stealth aircraft with wings' [task_sampler.py: 1136] +05/27 18:38:33 INFO: [Worker 0] Worker 0 house 8795 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 18:38:33 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 18:55:42 INFO: [Worker 0] Worker 0 house 8795 episode 0 object objamountingfixture_c45afc98ee6c4081a0091f6cb3b0ee66_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 18:55:45 INFO: [Worker 0] Batching and saving trajectory data for house_8795: 1 episodes [pipeline.py: 233] +05/27 18:55:45 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 18:55:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 18:55:47 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8795 [save_utils.py: 703] +05/27 18:55:47 INFO: [Worker 0] Successfully saved trajectory data for house_8795 in 2.33s (batch: 2.24s, save: 0.09s) [pipeline.py: 280] +05/27 18:55:48 WARNING: [Worker 0] No trajectory data to save for house_8795 [pipeline.py: 229] +05/27 18:55:48 INFO: [Worker 0] Worker 0 completed house 8795: 0/1 successful episodes [pipeline.py: 1243] +05/27 18:55:48 INFO: [Worker 0] Worker 0 starting house 8878 (index 101/115) [pipeline.py: 473] +05/27 18:55:48 INFO: [Worker 0] Loaded 1 episodes for house 8878 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 18:55:48 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 18:55:51 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8878_ceiling.xml [task_sampler.py: 797] +05/27 18:55:51 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8878, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 18:55:51 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 18:55:51 INFO: [Worker 0] randomize_scene: Setting poses for 27 objects [json_eval_task_sampler.py: 686] +05/27 18:55:51 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 18:55:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 18:55:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 18:55:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 18:55:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 18:55:51 INFO: [Worker 0] Sampled task 'Pick up the polished gold handbell and place it next to the invertebrate' [task_sampler.py: 1136] +05/27 18:55:51 INFO: [Worker 0] Worker 0 house 8878 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 18:55:51 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 18:55:51 WARNING: [Worker 0] Could not find object pencil_2c624e64d6f8a208a3a089ad77d16aa1_1_0_2 in scene [object_manager.py: 1238] +05/27 19:04:37 INFO: [Worker 0] Worker 0 house 8878 episode 0 object objahandbell_44ac826f5fce46ff8fdcbdafd15d4258_1_0_3 completed with success=False [pipeline.py: 1114] +05/27 19:04:41 INFO: [Worker 0] Batching and saving trajectory data for house_8878: 1 episodes [pipeline.py: 233] +05/27 19:04:41 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 19:04:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 19:04:44 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8878 [save_utils.py: 703] +05/27 19:04:44 INFO: [Worker 0] Successfully saved trajectory data for house_8878 in 2.86s (batch: 2.77s, save: 0.09s) [pipeline.py: 280] +05/27 19:04:45 WARNING: [Worker 0] No trajectory data to save for house_8878 [pipeline.py: 229] +05/27 19:04:45 INFO: [Worker 0] Worker 0 completed house 8878: 0/1 successful episodes [pipeline.py: 1243] +05/27 19:04:45 INFO: [Worker 0] Worker 0 starting house 8950 (index 102/115) [pipeline.py: 473] +05/27 19:04:45 INFO: [Worker 0] Loaded 1 episodes for house 8950 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 19:04:45 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 19:05:17 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8950_ceiling.xml [task_sampler.py: 797] +05/27 19:05:17 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8950, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 19:05:17 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 19:05:17 INFO: [Worker 0] randomize_scene: Setting poses for 64 objects [json_eval_task_sampler.py: 686] +05/27 19:05:17 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 19:05:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 19:05:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 19:05:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 19:05:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 19:05:17 INFO: [Worker 0] Sampled task 'Pick up the crumpled green nvidia package and place it next to the medium blue ceramic bowl with rim' [task_sampler.py: 1136] +05/27 19:05:17 INFO: [Worker 0] Worker 0 house 8950 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 19:05:17 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 19:06:55 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 19:20:00 INFO: [Worker 0] Worker 0 house 8950 episode 0 object objapackage_a509f13063c642f9aa2f5a15aafa7f4e_1_0_8 completed with success=False [pipeline.py: 1114] +05/27 19:20:04 INFO: [Worker 0] Batching and saving trajectory data for house_8950: 1 episodes [pipeline.py: 233] +05/27 19:20:04 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 19:20:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 19:20:06 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8950 [save_utils.py: 703] +05/27 19:20:06 INFO: [Worker 0] Successfully saved trajectory data for house_8950 in 2.36s (batch: 2.26s, save: 0.09s) [pipeline.py: 280] +05/27 19:20:07 WARNING: [Worker 0] No trajectory data to save for house_8950 [pipeline.py: 229] +05/27 19:20:07 INFO: [Worker 0] Worker 0 completed house 8950: 0/1 successful episodes [pipeline.py: 1243] +05/27 19:20:07 INFO: [Worker 0] Worker 0 starting house 9020 (index 103/115) [pipeline.py: 473] +05/27 19:20:07 INFO: [Worker 0] Loaded 1 episodes for house 9020 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 19:20:07 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 19:20:18 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9020_ceiling.xml [task_sampler.py: 797] +05/27 19:20:18 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9020, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 19:20:18 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 19:20:18 INFO: [Worker 0] randomize_scene: Setting poses for 72 objects [json_eval_task_sampler.py: 686] +05/27 19:20:18 WARNING: [Worker 0] Not setting joint of [json_eval_task_sampler.py: 441] +05/27 19:20:18 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 19:20:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 19:20:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 19:20:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 19:20:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 19:20:18 INFO: [Worker 0] Sampled task 'Pick up the carton and place it next to the bronze statue of nude female' [task_sampler.py: 1136] +05/27 19:20:18 INFO: [Worker 0] Worker 0 house 9020 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 19:20:18 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 19:20:18 WARNING: [Worker 0] Could not find object objafossil_7a6f6ef6a5054f3b92a5ba06f451d0b3_1_0_8 in scene [object_manager.py: 1238] +05/27 19:20:18 WARNING: [Worker 0] Could not find object plate_d3f03fb737fec5e1ec6a907be81b1810_1_0_8 in scene [object_manager.py: 1238] +05/27 19:21:55 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 19:35:17 INFO: [Worker 0] Worker 0 house 9020 episode 0 object box_e7e029a9fdad1078011b9d2693eb5ef1_1_0_4 completed with success=False [pipeline.py: 1114] +05/27 19:35:21 INFO: [Worker 0] Batching and saving trajectory data for house_9020: 1 episodes [pipeline.py: 233] +05/27 19:35:21 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 19:35:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 19:35:24 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9020 [save_utils.py: 703] +05/27 19:35:24 INFO: [Worker 0] Successfully saved trajectory data for house_9020 in 2.88s (batch: 2.79s, save: 0.09s) [pipeline.py: 280] +05/27 19:35:25 WARNING: [Worker 0] No trajectory data to save for house_9020 [pipeline.py: 229] +05/27 19:35:25 INFO: [Worker 0] Worker 0 completed house 9020: 0/1 successful episodes [pipeline.py: 1243] +05/27 19:35:25 INFO: [Worker 0] Worker 0 starting house 9080 (index 104/115) [pipeline.py: 473] +05/27 19:35:25 INFO: [Worker 0] Loaded 1 episodes for house 9080 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 19:35:25 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 19:35:36 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9080_ceiling.xml [task_sampler.py: 797] +05/27 19:35:36 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9080, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 19:35:36 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 19:35:36 INFO: [Worker 0] randomize_scene: Setting poses for 48 objects [json_eval_task_sampler.py: 686] +05/27 19:35:36 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 19:35:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 19:35:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 19:35:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 19:35:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 19:35:36 INFO: [Worker 0] Sampled task 'Pick up the sleek curved metal bottle opener and place it next to the yellow spiky hair bust silhouette' [task_sampler.py: 1136] +05/27 19:35:36 INFO: [Worker 0] Worker 0 house 9080 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 19:35:36 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 19:50:15 INFO: [Worker 0] Worker 0 house 9080 episode 0 object objabottleopener_c64e41ddd1f84299b995b5fed1a3b43e_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 19:50:18 INFO: [Worker 0] Batching and saving trajectory data for house_9080: 1 episodes [pipeline.py: 233] +05/27 19:50:18 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 19:50:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 19:50:20 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9080 [save_utils.py: 703] +05/27 19:50:20 INFO: [Worker 0] Successfully saved trajectory data for house_9080 in 2.37s (batch: 2.28s, save: 0.09s) [pipeline.py: 280] +05/27 19:50:21 WARNING: [Worker 0] No trajectory data to save for house_9080 [pipeline.py: 229] +05/27 19:50:21 INFO: [Worker 0] Worker 0 completed house 9080: 0/1 successful episodes [pipeline.py: 1243] +05/27 19:50:21 INFO: [Worker 0] Worker 0 starting house 9153 (index 105/115) [pipeline.py: 473] +05/27 19:50:21 INFO: [Worker 0] Loaded 1 episodes for house 9153 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 19:50:21 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 19:50:57 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/27 19:51:00 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9153_ceiling.xml [task_sampler.py: 797] +05/27 19:51:00 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9153, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 19:51:00 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 19:51:00 INFO: [Worker 0] randomize_scene: Setting poses for 44 objects [json_eval_task_sampler.py: 686] +05/27 19:51:00 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 19:51:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 19:51:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 19:51:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 19:51:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 19:51:00 INFO: [Worker 0] Sampled task 'Pick up the light wooden bridge with arches and place it next to the purple and yellow pixelated knife' [task_sampler.py: 1136] +05/27 19:51:00 INFO: [Worker 0] Worker 0 house 9153 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 19:51:00 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 19:51:00 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_3 in scene [object_manager.py: 1238] +05/27 20:04:07 INFO: [Worker 0] Worker 0 house 9153 episode 0 object objamodelbridge_02217be5148946099483fb93a7e9ab0a_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 20:04:10 INFO: [Worker 0] Batching and saving trajectory data for house_9153: 1 episodes [pipeline.py: 233] +05/27 20:04:10 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 20:04:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 20:04:13 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9153 [save_utils.py: 703] +05/27 20:04:13 INFO: [Worker 0] Successfully saved trajectory data for house_9153 in 2.75s (batch: 2.66s, save: 0.09s) [pipeline.py: 280] +05/27 20:04:14 WARNING: [Worker 0] No trajectory data to save for house_9153 [pipeline.py: 229] +05/27 20:04:14 INFO: [Worker 0] Worker 0 completed house 9153: 0/1 successful episodes [pipeline.py: 1243] +05/27 20:04:14 INFO: [Worker 0] Worker 0 starting house 9228 (index 106/115) [pipeline.py: 473] +05/27 20:04:14 INFO: [Worker 0] Loaded 1 episodes for house 9228 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 20:04:14 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 20:04:24 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9228_ceiling.xml [task_sampler.py: 797] +05/27 20:04:24 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9228, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 20:04:24 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 20:04:24 INFO: [Worker 0] randomize_scene: Setting poses for 51 objects [json_eval_task_sampler.py: 686] +05/27 20:04:24 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 20:04:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 20:04:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 20:04:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 20:04:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 20:04:24 INFO: [Worker 0] Sampled task 'Pick up the pastry and place it next to the glossy brown goblet cup for beverages' [task_sampler.py: 1136] +05/27 20:04:24 INFO: [Worker 0] Worker 0 house 9228 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 20:04:24 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 20:06:07 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 20:15:43 INFO: [Worker 0] Worker 0 house 9228 episode 0 object objapastry_7fda2ce0924e4628be50bb75701ba41c_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 20:15:47 INFO: [Worker 0] Batching and saving trajectory data for house_9228: 1 episodes [pipeline.py: 233] +05/27 20:15:47 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 20:15:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 20:15:50 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9228 [save_utils.py: 703] +05/27 20:15:50 INFO: [Worker 0] Successfully saved trajectory data for house_9228 in 2.81s (batch: 2.72s, save: 0.09s) [pipeline.py: 280] +05/27 20:15:50 WARNING: [Worker 0] No trajectory data to save for house_9228 [pipeline.py: 229] +05/27 20:15:50 INFO: [Worker 0] Worker 0 completed house 9228: 0/1 successful episodes [pipeline.py: 1243] +05/27 20:15:50 INFO: [Worker 0] Worker 0 starting house 9305 (index 107/115) [pipeline.py: 473] +05/27 20:15:50 INFO: [Worker 0] Loaded 1 episodes for house 9305 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 20:15:50 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 20:16:27 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9305_ceiling.xml [task_sampler.py: 797] +05/27 20:16:27 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9305, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 20:16:27 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 20:16:27 INFO: [Worker 0] randomize_scene: Setting poses for 57 objects [json_eval_task_sampler.py: 686] +05/27 20:16:27 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 20:16:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 20:16:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 20:16:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 20:16:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 20:16:27 INFO: [Worker 0] Sampled task 'Pick up the traditional wooden rubber stamp with metal and place it next to the yellow realme box' [task_sampler.py: 1136] +05/27 20:16:27 INFO: [Worker 0] Worker 0 house 9305 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 20:16:27 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 20:16:27 WARNING: [Worker 0] Could not find object objalantern_e31ea000207044df9a96178592bf27c8_1_0_5 in scene [object_manager.py: 1238] +05/27 20:16:27 WARNING: [Worker 0] Could not find object objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_5 in scene [object_manager.py: 1238] +05/27 20:18:04 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 20:28:38 INFO: [Worker 0] Worker 0 house 9305 episode 0 object objarubberstamp_57b6ce9f7f0244e2b691d33c1bbde4ad_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 20:28:42 INFO: [Worker 0] Batching and saving trajectory data for house_9305: 1 episodes [pipeline.py: 233] +05/27 20:28:42 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 20:28:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 20:28:44 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9305 [save_utils.py: 703] +05/27 20:28:44 INFO: [Worker 0] Successfully saved trajectory data for house_9305 in 2.88s (batch: 2.79s, save: 0.09s) [pipeline.py: 280] +05/27 20:28:45 WARNING: [Worker 0] No trajectory data to save for house_9305 [pipeline.py: 229] +05/27 20:28:45 INFO: [Worker 0] Worker 0 completed house 9305: 0/1 successful episodes [pipeline.py: 1243] +05/27 20:28:45 INFO: [Worker 0] Worker 0 starting house 9420 (index 108/115) [pipeline.py: 473] +05/27 20:28:45 INFO: [Worker 0] Loaded 1 episodes for house 9420 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 20:28:45 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 20:28:57 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9420_ceiling.xml [task_sampler.py: 797] +05/27 20:28:57 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9420, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 20:28:57 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 20:28:57 INFO: [Worker 0] randomize_scene: Setting poses for 64 objects [json_eval_task_sampler.py: 686] +05/27 20:28:57 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 20:28:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 20:28:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 20:28:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 20:28:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 20:28:57 INFO: [Worker 0] Sampled task 'Pick up the tall vase with scalloped rim and place it next to the vintage wooden stamp handle' [task_sampler.py: 1136] +05/27 20:28:57 INFO: [Worker 0] Worker 0 house 9420 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 20:28:57 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 20:30:36 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 20:40:41 INFO: [Worker 0] Worker 0 house 9420 episode 0 object vase_167c6c1d7784abbddfcb5d35cfc28d28_1_0_9 completed with success=False [pipeline.py: 1114] +05/27 20:40:44 INFO: [Worker 0] Batching and saving trajectory data for house_9420: 1 episodes [pipeline.py: 233] +05/27 20:40:44 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 20:40:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 20:40:46 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9420 [save_utils.py: 703] +05/27 20:40:46 INFO: [Worker 0] Successfully saved trajectory data for house_9420 in 2.29s (batch: 2.19s, save: 0.09s) [pipeline.py: 280] +05/27 20:40:47 WARNING: [Worker 0] No trajectory data to save for house_9420 [pipeline.py: 229] +05/27 20:40:47 INFO: [Worker 0] Worker 0 completed house 9420: 0/1 successful episodes [pipeline.py: 1243] +05/27 20:40:47 INFO: [Worker 0] Worker 0 starting house 9494 (index 109/115) [pipeline.py: 473] +05/27 20:40:47 INFO: [Worker 0] Loaded 1 episodes for house 9494 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 20:40:47 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 20:41:11 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9494_ceiling.xml [task_sampler.py: 797] +05/27 20:41:11 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9494, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 20:41:11 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 20:41:11 INFO: [Worker 0] randomize_scene: Setting poses for 61 objects [json_eval_task_sampler.py: 686] +05/27 20:41:11 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 20:41:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 20:41:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 20:41:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 20:41:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 20:41:11 INFO: [Worker 0] Sampled task 'Pick up the white space shuttle with red markings and place it next to the blue bolster pillow' [task_sampler.py: 1136] +05/27 20:41:11 INFO: [Worker 0] Worker 0 house 9494 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 20:41:11 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 20:41:11 WARNING: [Worker 0] Could not find object objasponge_fc6f343e05344c49baa810fb280e9dcb_1_0_5 in scene [object_manager.py: 1238] +05/27 20:42:47 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 20:53:40 INFO: [Worker 0] Worker 0 house 9494 episode 0 object objaspaceshuttlemodel_126c15b428494313a494c06822f2a756_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 20:53:44 INFO: [Worker 0] Batching and saving trajectory data for house_9494: 1 episodes [pipeline.py: 233] +05/27 20:53:44 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 20:53:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 20:53:46 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9494 [save_utils.py: 703] +05/27 20:53:46 INFO: [Worker 0] Successfully saved trajectory data for house_9494 in 2.34s (batch: 2.25s, save: 0.09s) [pipeline.py: 280] +05/27 20:53:46 WARNING: [Worker 0] No trajectory data to save for house_9494 [pipeline.py: 229] +05/27 20:53:46 INFO: [Worker 0] Worker 0 completed house 9494: 0/1 successful episodes [pipeline.py: 1243] +05/27 20:53:46 INFO: [Worker 0] Worker 0 starting house 9541 (index 110/115) [pipeline.py: 473] +05/27 20:53:46 INFO: [Worker 0] Loaded 1 episodes for house 9541 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 20:53:46 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 20:53:48 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9541_ceiling.xml [task_sampler.py: 797] +05/27 20:53:48 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9541, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 20:53:48 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 20:53:49 INFO: [Worker 0] randomize_scene: Setting poses for 28 objects [json_eval_task_sampler.py: 686] +05/27 20:53:49 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 20:53:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 20:53:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 20:53:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 20:53:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 20:53:49 INFO: [Worker 0] Sampled task 'Pick up the pink wand with red sphere and place it next to the tall dark cup with ridges base' [task_sampler.py: 1136] +05/27 20:53:49 INFO: [Worker 0] Worker 0 house 9541 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 20:53:49 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 20:53:49 WARNING: [Worker 0] Could not find object objaadjustablewrench_b3373981536640b98483a890d9a14060_1_0_2 in scene [object_manager.py: 1238] +05/27 20:53:49 WARNING: [Worker 0] Could not find object soapdispenser_f815ad52d37c217cefc0cafa7edbb112_1_0_2 in scene [object_manager.py: 1238] +05/27 20:57:05 INFO: [Worker 0] Worker 0 house 9541 episode 0 object objadecorativewand_612582bc490a4353ba468a9839bf9119_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 20:57:08 INFO: [Worker 0] Batching and saving trajectory data for house_9541: 1 episodes [pipeline.py: 233] +05/27 20:57:08 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 20:57:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 20:57:11 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9541 [save_utils.py: 703] +05/27 20:57:11 INFO: [Worker 0] Successfully saved trajectory data for house_9541 in 2.74s (batch: 2.65s, save: 0.09s) [pipeline.py: 280] +05/27 20:57:12 WARNING: [Worker 0] No trajectory data to save for house_9541 [pipeline.py: 229] +05/27 20:57:12 INFO: [Worker 0] Worker 0 completed house 9541: 0/1 successful episodes [pipeline.py: 1243] +05/27 20:57:12 INFO: [Worker 0] Worker 0 starting house 9632 (index 111/115) [pipeline.py: 473] +05/27 20:57:12 INFO: [Worker 0] Loaded 1 episodes for house 9632 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 20:57:12 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 20:57:15 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9632_ceiling.xml [task_sampler.py: 797] +05/27 20:57:15 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9632, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 20:57:15 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 20:57:15 INFO: [Worker 0] randomize_scene: Setting poses for 48 objects [json_eval_task_sampler.py: 686] +05/27 20:57:15 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 20:57:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 20:57:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 20:57:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 20:57:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 20:57:15 INFO: [Worker 0] Sampled task 'Pick up the transparent rectangular plastic storage container and place it next to the gray hardcover book with gold' [task_sampler.py: 1136] +05/27 20:57:15 INFO: [Worker 0] Worker 0 house 9632 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 20:57:15 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 20:57:15 WARNING: [Worker 0] Could not find object objanoticeboard_30603b4f64764a10bb698df10f0c5453_1_0_5 in scene [object_manager.py: 1238] +05/27 20:57:15 WARNING: [Worker 0] Could not find object objadecorativelighthouse_efc08602dbff41d28ab59d29b36fdb05_1_0_5 in scene [object_manager.py: 1238] +05/27 20:58:54 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 21:10:42 INFO: [Worker 0] Worker 0 house 9632 episode 0 object objastoragecontainer_1d9ba0041c5c409d9823eef8e50dde9b_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 21:10:46 INFO: [Worker 0] Batching and saving trajectory data for house_9632: 1 episodes [pipeline.py: 233] +05/27 21:10:46 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 21:10:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 21:10:49 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9632 [save_utils.py: 703] +05/27 21:10:49 INFO: [Worker 0] Successfully saved trajectory data for house_9632 in 2.77s (batch: 2.67s, save: 0.09s) [pipeline.py: 280] +05/27 21:10:49 WARNING: [Worker 0] No trajectory data to save for house_9632 [pipeline.py: 229] +05/27 21:10:49 INFO: [Worker 0] Worker 0 completed house 9632: 0/1 successful episodes [pipeline.py: 1243] +05/27 21:10:49 INFO: [Worker 0] Worker 0 starting house 9710 (index 112/115) [pipeline.py: 473] +05/27 21:10:49 INFO: [Worker 0] Loaded 1 episodes for house 9710 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 21:10:49 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 21:11:04 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9710_ceiling.xml [task_sampler.py: 797] +05/27 21:11:04 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9710, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 21:11:04 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 21:11:04 INFO: [Worker 0] randomize_scene: Setting poses for 69 objects [json_eval_task_sampler.py: 686] +05/27 21:11:04 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 21:11:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 21:11:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 21:11:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 21:11:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 21:11:04 INFO: [Worker 0] Sampled task 'Pick up the lavender soap bar with hole and emboss and place it next to the cream candle in blue holder' [task_sampler.py: 1136] +05/27 21:11:04 INFO: [Worker 0] Worker 0 house 9710 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 21:11:04 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 21:11:04 WARNING: [Worker 0] Could not find object objavhstape_dc3c4b3cc513486b87a9d5f7d344d132_1_0_6 in scene [object_manager.py: 1238] +05/27 21:11:04 WARNING: [Worker 0] Could not find object soapdispenser_92169e2640439bd67fb105701482b508_1_0_7 in scene [object_manager.py: 1238] +05/27 21:26:18 INFO: [Worker 0] Worker 0 house 9710 episode 0 object objasoap_bc2d6e60f6ac4eccb55eb9026925c617_1_0_5 completed with success=False [pipeline.py: 1114] +05/27 21:26:22 INFO: [Worker 0] Batching and saving trajectory data for house_9710: 1 episodes [pipeline.py: 233] +05/27 21:26:22 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 21:26:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 21:26:24 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9710 [save_utils.py: 703] +05/27 21:26:24 INFO: [Worker 0] Successfully saved trajectory data for house_9710 in 2.45s (batch: 2.36s, save: 0.09s) [pipeline.py: 280] +05/27 21:26:25 WARNING: [Worker 0] No trajectory data to save for house_9710 [pipeline.py: 229] +05/27 21:26:25 INFO: [Worker 0] Worker 0 completed house 9710: 0/1 successful episodes [pipeline.py: 1243] +05/27 21:26:25 INFO: [Worker 0] Worker 0 starting house 9821 (index 113/115) [pipeline.py: 473] +05/27 21:26:25 INFO: [Worker 0] Loaded 1 episodes for house 9821 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 21:26:25 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 21:27:01 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9821_ceiling.xml [task_sampler.py: 797] +05/27 21:27:01 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9821, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 21:27:01 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 21:27:01 INFO: [Worker 0] randomize_scene: Setting poses for 75 objects [json_eval_task_sampler.py: 686] +05/27 21:27:01 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 21:27:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 21:27:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 21:27:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 21:27:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 21:27:01 INFO: [Worker 0] Sampled task 'Pick up the pink rectangular popsicle on stick and place it next to the medium oval brown potato with texture' [task_sampler.py: 1136] +05/27 21:27:01 INFO: [Worker 0] Worker 0 house 9821 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 21:27:01 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 21:27:01 WARNING: [Worker 0] Could not find object objaicon_c4a8fd71e3424524b20726223ee23883_1_0_7 in scene [object_manager.py: 1238] +05/27 21:28:44 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 21:43:25 INFO: [Worker 0] Worker 0 house 9821 episode 0 object objapopsicle_d6caf34a19354df890e60be6786de20c_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 21:43:28 INFO: [Worker 0] Batching and saving trajectory data for house_9821: 1 episodes [pipeline.py: 233] +05/27 21:43:28 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 21:43:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 21:43:30 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9821 [save_utils.py: 703] +05/27 21:43:30 INFO: [Worker 0] Successfully saved trajectory data for house_9821 in 2.32s (batch: 2.23s, save: 0.09s) [pipeline.py: 280] +05/27 21:43:31 WARNING: [Worker 0] No trajectory data to save for house_9821 [pipeline.py: 229] +05/27 21:43:31 INFO: [Worker 0] Worker 0 completed house 9821: 0/1 successful episodes [pipeline.py: 1243] +05/27 21:43:31 INFO: [Worker 0] Worker 0 starting house 9940 (index 114/115) [pipeline.py: 473] +05/27 21:43:31 INFO: [Worker 0] Loaded 1 episodes for house 9940 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 [json_eval_runner.py: 278] +05/27 21:43:31 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 21:43:41 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9940_ceiling.xml [task_sampler.py: 797] +05/27 21:43:41 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9940, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 21:43:41 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 21:43:41 INFO: [Worker 0] randomize_scene: Setting poses for 29 objects [json_eval_task_sampler.py: 686] +05/27 21:43:41 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 21:43:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 21:43:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 21:43:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 21:43:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 21:43:41 INFO: [Worker 0] Sampled task 'Pick up the black cross medal and place it next to the light blue dolphin with prominent fins' [task_sampler.py: 1136] +05/27 21:43:41 INFO: [Worker 0] Worker 0 house 9940 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 21:43:41 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 21:45:21 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 21:52:27 INFO: [Worker 0] Worker 0 house 9940 episode 0 object objamedal_60d7eeb3f86343428d565e06d1e28703_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 21:52:31 INFO: [Worker 0] Batching and saving trajectory data for house_9940: 1 episodes [pipeline.py: 233] +05/27 21:52:31 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 21:52:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 21:52:33 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9940 [save_utils.py: 703] +05/27 21:52:33 INFO: [Worker 0] Successfully saved trajectory data for house_9940 in 2.73s (batch: 2.64s, save: 0.09s) [pipeline.py: 280] +05/27 21:52:34 WARNING: [Worker 0] No trajectory data to save for house_9940 [pipeline.py: 229] +05/27 21:52:34 INFO: [Worker 0] Worker 0 completed house 9940: 0/1 successful episodes [pipeline.py: 1243] +05/27 21:52:34 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 526] +05/27 21:52:35 INFO: Completed 115 houses, skipped 0 houses [pipeline.py: 1496] +05/27 21:52:35 INFO: Success count: 4, Total count: 119 [pipeline.py: 1499] +05/27 21:52:35 INFO: Success rate: 3.36% [pipeline.py: 1500] diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/episode_results.jsonl b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/episode_results.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b47034272f5cf37795e55e5f7688e9bad8a64f1f --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/episode_results.jsonl @@ -0,0 +1,119 @@ +{"house_id": "house_1037", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the metal stake and place it next to the brown and blue compact alarm clock", "object_name": "objastake_b79cee771e604eec8845a1d74dbb417a_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1037/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1165", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray roller assembly with black frame and place it next to the green tree", "object_name": "objarollerassembly_974c0781de924642a00b6c3e1c56462b_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1165/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1225", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the garlic and place it next to the chocolate nut ice cream", "object_name": "objagarlic_4dd64ee00ff94f7488ff7793c74a8cdf_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1225/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1320", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the brown medium potato and place it next to the green cup with flared rim", "object_name": "Irishpotato_4ccdc5ebde4d6fee07ff9eefb0b60cfb_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1320/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1387", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the handheld tool and place it next to the bulbous shiny gold vase", "object_name": "objahandheldtool_73568d0c5842467b973426acd033a47d_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1387/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1502", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the long slender dark stick and place it next to the white molding with flowers", "object_name": "objadecorativestick_bfc1cb3341914d5aa3f6633ef58b4106_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1502/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1610", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage metal calendar and place it next to the black submarine", "object_name": "objadeskcalendar_c0ddec650d304adbb5d6730f43205dda_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1610/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1729", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the sleek metallic juicer with legs and place it next to the soap bottle", "object_name": "objajuicer_781344ece32d4692affe82c5474c0b75_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1729/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1777", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the moka pot and place it next to the glossy translucent cup with flared top", "object_name": "objamokapot_8d83a1f7c94045b38e5c62fc4feecb0b_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1777/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1902", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the tangled wire sphere and place it next to the glossy black dog statue sitting", "object_name": "objawiresculpture_12c19793bbfa432ebbb8c920f01ac72d_2_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1902/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1978", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the flat brown h-shaped rectangular piece and place it next to the conical soap bottle with pump", "object_name": "objacomponent_5ca9a2c89480421592cd65b82d2a028b_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1978/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2039", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wooden stake topped with red gem and place it next to the bulbous shiny gold metallic vase", "object_name": "objadecorativestake_f7da54612fcd4df18fc7db6392979318_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2039/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2162", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue hammer with orange handle and place it next to the murphy", "object_name": "objahandtool_ed6973497d074fd6969fd06f52e8da04_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2162/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2266", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the glossy green cup and place it next to the glossy round bowl", "object_name": "cup_8d9428c0be7f5e5aef31cf7e5152e057_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2266/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2374", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark spiked mace and place it next to the round brown bread", "object_name": "objamace_8bf2eabaaf7f4ee09641ae6fec234644_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2374/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2475", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the polygon and place it next to the terracotta molding", "object_name": "objadecorativewedge_6c209105d3fe4d7db6a3520ceb255e96_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2475/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2537", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the burnt white candle and place it next to the colorful puzzle cube", "object_name": "objacandle_464b8c40369549e98243c274e894bd4b_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2537/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2678", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage black camera with lens and place it next to the polished silver-gray metal vase", "object_name": "objacamera_6e9951dd41be4ae5b98a3e1857b94671_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2678/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2800", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the jagged white marble piece with veins and place it next to the soapdispenser", "object_name": "objamarblesculpture_969d17f91b324a6c9e0b1d1f649a1463_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2800/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2873", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the brown animal statuette and place it next to the radio link", "object_name": "objastatuette_c02a6cb0ecd141669ce2dfed1e31a126_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2873/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_2970", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the fantasy hammer and place it next to the olive scalloped ceramic plate", "object_name": "objafantasyhammer_ee13a88b5c134317b0b1da1d14403ddd_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2970/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3062", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the sportsshoe and place it next to the red lighthouse", "object_name": "objasportsshoe_6b4506025d2e4c38bf943c377e53a82b_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3062/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3062", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the munition and place it next to the rustic wooden corbel support", "object_name": "objaexplosivedevice_6d333be39e454b458d48ad86f8a78df4_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3062/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3095", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the worn vintage gameboy console and place it next to the blue book", "object_name": "objahandheldgameconsole_021b1586089044278164dadc584abb89_1_0_7", "data_file_path": 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"task_description": "Pick up the vintage metallic camera with floral engravings and place it next to the oval brown potato", "object_name": "objacamera_966235cef3f34f40aa8bd19063c6c411_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3263/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3300", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the open brown cardboard box packaging and place it next to the vintage blue twin-bell alarm clock", "object_name": "box_5358700257a2427d72759d135597dc51_1_0_7", "data_file_path": 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"num_steps": 449, "task_description": "Pick up the yellow kitchen knife with blade and place it next to the soapdispenser", "object_name": "knife_7db4ef03593a98cc5b883c623dde8d9f_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3450/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3529", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark metal frying pan and place it next to the bulbous shiny gold metallic vase", "object_name": "cookingpan_7d858738a424e980049e4c1d86d8d3a5_1_0_2", "data_file_path": 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the blue handheld device with cylindrical barrel and place it next to the green lettuce", "object_name": "objatool_7fbf9a210de74910b0ab4bbe740fce1c_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3742/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3790", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the realistic detailed ivory skull and place it next to the tall dark gray decorative pillow", "object_name": "objaskullmodel_3550b1feb37745b6a6dbec510ccb740b_1_0_4", "data_file_path": 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yellow kitchen knife with sharp blade and place it next to the human hand", "object_name": "knife_0bc93f198121d33ac4030a34bfc944a4_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4041/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4145", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue vhs with horror design and place it next to the clear glass martini cup", "object_name": "objavhstape_dc3c4b3cc513486b87a9d5f7d344d132_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4145/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4216", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the brown gourd seedpod and place it next to the wooden trophy with pink white emblem", "object_name": "objagourd_ecf826d7f2ba4486b7841f0536b72a4a_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4216/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4240", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black ribbed plastic cap and place it next to the purple rectangular shiny quilted pillow", "object_name": "objacap_3a40810c85cd4576af04b66e5a18e6a0_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4240/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4240", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green and yellow sponge and place it next to the tall transparent cup", "object_name": "objacleaningsponge_97aee64edf0c4521b82416f3b30c61ce_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4240/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4291", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gunsuppressor and place it next to the modern black toaster with metallic ridges", "object_name": "objagunsuppressor_9616f6013c204a49a9d90758f8e83faf_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4291/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4325", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the matte gray wraparound safety glasses and place it next to the bulbous shiny gold metallic vase", "object_name": "objasafetyglasses_7e6a9db3e19a4cc2b49bcea5fef1d7bb_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4325/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4400", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray hourglass-shaped cup and place it next to the glossy green cup", "object_name": "cup_03f875ba63b7adc57ed0b350736f7167_1_0_2", "data_file_path": 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place it next to the red white striped lighthouse with roof", "object_name": "objamarker_c94bb25528ca4d3288cd278be03479ad_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4622/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4680", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the round rustic goblet and place it next to the blow drier", "object_name": "objagoblet_eca84b5c63d243e0b7b13b703875d869_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4680/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4716", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red pin and place it next to the small beige clay tablet with engravings", "object_name": "objamarker_c94bb25528ca4d3288cd278be03479ad_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4716/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4800", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red bell pepper with stem and place it next to the smokingpipe", "object_name": "objavegetable_d8d6bb178d07401aa9c94faab14e0b4f_1_0_6", "data_file_path": 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"task_description": "Pick up the sleek black hairdryer with pink opening and place it next to the green dragon axe", "object_name": "objahairdryer_9ddac67ac88d47758c8e85f154a61dbb_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4962/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5067", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 73, "task_description": "Pick up the portable black handheld radio with antenna and place it next to the beige fedora hat", "object_name": "objawalkietalkie_282d16b8d5a84343953eb6d8d135722a_1_0_6", "data_file_path": 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"task_description": "Pick up the black axe with camouflage handle and place it next to the tomato", "object_name": "objatacticaltool_939742983522410db0d0d18b38b5f48a_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5203/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5382", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage wooden stamp handle and place it next to the bronze full-figured statue", "object_name": "objastamp_08c428ecb76446c288479a3b95dfd144_1_0_9", "data_file_path": 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449, "task_description": "Pick up the brown wooden studded club and place it next to the thick yellow hardcover programming book", "object_name": "objadecorativeclub_de3246c2dea44185bf857acbcc51ae3b_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5546/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5612", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the decorative eye sculpture and place it next to the glossy black dog statue", "object_name": "objadecorativeeyesculpture_454bf9901cee4629b2e3b87541c8ab1f_1_0_4", "data_file_path": 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"num_steps": 449, "task_description": "Pick up the cream ceramic sugar bowl with handle and place it next to the transparent soap bottle with pump", "object_name": "objasugarbowl_9b683d621e1b4ca384050d16215b1f5b_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_573/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5773", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the beige cartoon skeleton figure and place it next to the white candle with number four", "object_name": "objaskeletonfigure_d607a92aa9b54909b993535f96997115_2_0_4", "data_file_path": 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"task_description": "Pick up the small circular device projecting blue light and place it next to the realistic primate skull", "object_name": "objaholographicprojector_9860e2270f1245698995adce759c187f_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5928/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6068", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the striped wasp and place it next to the gray rubber mallet with wooden handle", "object_name": "objainsect_4c74d77df5ee41948218f8a620ec1228_1_0_2", "data_file_path": 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"task_description": "Pick up the pop up card and place it next to the bulbous shiny gold vase", "object_name": "objapopupcard_c384a40a36554ddeb1a0a08f8ec266d3_2_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6205/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_621", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white ceramic teacup with handle and place it next to the ornate bronze faucet with curve", "object_name": "objateacup_027f9a512d2e49a582290e8a47ae68ed_1_0_6", "data_file_path": 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the blue marker and place it next to the translucent blue soap bottle with pump", "object_name": "objamarkerpen_9ded8666275148929a57190ab939c735_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6303/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6391", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rough corroded circular metal ring and place it next to the square olive green plate", "object_name": "objametalring_8b9edce1030849c0b2101af955b65b02_1_0_9", "data_file_path": 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"task_description": "Pick up the small glossy turquoise eye of horus amulet and place it next to the dark laptop", "object_name": "objaamulet_7300d219ed944585ace4b2509bef4f6e_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6437/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6469", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the golden crescent moon pink wand and place it next to the laptop computer", "object_name": "objadecorativewand_587b79d19e94452b8c825603fcbe834a_1_0_7", "data_file_path": 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classic red plastic cup with ridges and place it next to the smooth white triangular wedge with texture", "object_name": "objaplasticcup_22798b1b718749608a0e729d576727a4_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6705/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6767", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the transparent soap bottle with dark pump and place it next to the shallow dark round cooking pan", "object_name": "soapdispenser_92169e2640439bd67fb105701482b508_1_0_2", "data_file_path": 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triangular wedge and place it next to the plate", "object_name": "objadecorativewedge_6c209105d3fe4d7db6a3520ceb255e96_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6903/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6978", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black high-performance graphics card and place it next to the black metal scope mount with knob", "object_name": "objagraphicscard_fab5cfb1c5c143878bdfc9be2f3827bb_1_0_3", "data_file_path": 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"task_description": "Pick up the blue calendar with mountain design and place it next to the slim gold metallic phone", "object_name": "objawallcalendar_3a39ed927ca343fa905a99dfe9093d5a_2_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7083/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_7174", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black rectangular sunglasses and place it next to the mallet", "object_name": "objasunglasses_c8d8a11e50f74bd390b35e4868984474_1_0_7", "data_file_path": 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"task_description": "Pick up the glossy red bell pepper and place it next to the smooth green apple", "object_name": "objabellpepper_9e344338f741427aa5c5809e04b8a979_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_729/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_7346", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the tableware and place it next to the laptop computer", "object_name": "bowl_80746f55d05634985152668dea7876a0_1_0_4", "data_file_path": 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"Pick up the white stand with red flag and place it next to the dentures", "object_name": "objamarkerstand_4b59e422673a438685b77375029f7926_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7453/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_7568", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gavel with brown handle and brass and place it next to the topographicalmap", "object_name": "objagavel_2ae6147628c04ac7a28bfe2b5982b4c3_1_0_2", "data_file_path": 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futuristic purple toy blaster with accents and place it next to the yellow striped airship", "object_name": "objatoyblaster_bd41ea9e538343b3a6f90b159a219d04_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7765/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_781", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the elongated metal finial with base and place it next to the brown poop emoji with smile", "object_name": "objafinial_4d7c210e36894fa489a2c4f2954531d9_1_0_3", "data_file_path": 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light rubber mallet with handle and place it next to the rugged gray rocky terrain with moss", "object_name": "objarubbermallet_f6f3eee2d418463bbab1abe93e274d60_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7970/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8056", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark telephone and place it next to the table lamp", "object_name": "objatelephone_6f17039417674bb7b44d5dd823cb1c72_1_0_2", "data_file_path": 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"task_description": "Pick up the black wireless ergonomic mouse and place it next to the gray bowl", "object_name": "objacomputermouse_2b70993763034bef8587d3730c7ca8ff_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8224/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8277", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the antique dark metal knocker with figure and place it next to the black grenade with purple panels", "object_name": "objadoorknocker_1186251805584e29b3fd39f83a54c8ae_1_0_2", "data_file_path": 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cylindrical dark nhl pencilcase and place it next to the small red barn model with windows", "object_name": "objapencilcase_07e5a1bc68f2433eb8fb3db3582ec3d9_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8421/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8421", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the crumpledpaper and place it next to the soap bottle", "object_name": "objacrumpledpaper_bab9b0a4a3194165be4ac939c565d39f_1_0_2", "data_file_path": 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"task_description": "Pick up the round brown bread loaf and place it next to the red glass vase", "object_name": "bread_41716c58b3d4c7691e7c0a1ca9c91854_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8506/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8627", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the spray bottle and place it next to the small stemmed red apple", "object_name": "atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_6", "data_file_path": 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"task_description": "Pick up the white rectangular electrical component and place it next to the digital clock", "object_name": "objaelectricalcomponent_aab3af6780ff4bb7a5ec47cb4046d811_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8701/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8795", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray metal rod with perforated top and place it next to the angular dark stealth aircraft with wings", "object_name": "objamountingfixture_c45afc98ee6c4081a0091f6cb3b0ee66_1_0_2", "data_file_path": 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crumpled green nvidia package and place it next to the medium blue ceramic bowl with rim", "object_name": "objapackage_a509f13063c642f9aa2f5a15aafa7f4e_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8950/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9020", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the carton and place it next to the bronze statue of nude female", "object_name": "box_e7e029a9fdad1078011b9d2693eb5ef1_1_0_4", "data_file_path": 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"task_description": "Pick up the light wooden bridge with arches and place it next to the purple and yellow pixelated knife", "object_name": "objamodelbridge_02217be5148946099483fb93a7e9ab0a_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9153/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9228", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the pastry and place it next to the glossy brown goblet cup for beverages", "object_name": "objapastry_7fda2ce0924e4628be50bb75701ba41c_1_0_6", "data_file_path": 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up the traditional wooden rubber stamp with metal and place it next to the yellow realme box", "object_name": "objarubberstamp_57b6ce9f7f0244e2b691d33c1bbde4ad_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9305/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9420", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the tall vase with scalloped rim and place it next to the vintage wooden stamp handle", "object_name": "vase_167c6c1d7784abbddfcb5d35cfc28d28_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9420/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9494", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white space shuttle with red markings and place it next to the blue bolster pillow", "object_name": "objaspaceshuttlemodel_126c15b428494313a494c06822f2a756_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9494/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9541", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the pink wand with red sphere and place it next to the tall dark cup with ridges base", "object_name": "objadecorativewand_612582bc490a4353ba468a9839bf9119_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9541/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9632", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the transparent rectangular plastic storage container and place it next to the gray hardcover book with gold", "object_name": "objastoragecontainer_1d9ba0041c5c409d9823eef8e50dde9b_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9632/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9710", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the lavender soap bar with hole and emboss and place it next to the cream candle in blue holder", "object_name": "objasoap_bc2d6e60f6ac4eccb55eb9026925c617_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9710/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9821", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the pink rectangular popsicle on stick and place it next to the medium oval brown potato with texture", "object_name": "objapopsicle_d6caf34a19354df890e60be6786de20c_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9821/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9940", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black cross medal and place it next to the light blue dolphin with prominent fins", "object_name": "objamedal_60d7eeb3f86343428d565e06d1e28703_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9940/trajectories_batch_1_of_1.h5", "metadata": {}} diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/eval.log b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/eval.log new file mode 100644 index 0000000000000000000000000000000000000000..ad578c5ca5c9c1e10cdcb9f33eeb00654af86cda --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/eval.log @@ -0,0 +1,3712 @@ +[2026-05-26 19:43:51,412] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath'] +[2026-05-26 19:43:51,414] INFO Using MuJoCo EGL device id: 6 +[2026-05-26 19:43:51,414] INFO Using pre-set MUJOCO_GL backend: egl +[2026-05-26 19:43:51,444] INFO Using MolmoSpaces benchmark: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 (source=arg) +[2026-05-26 19:43:53,273] INFO No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +[nltk_data] Downloading package wordnet to /home/yuanpei/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /home/yuanpei/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +[2026-05-26 19:44:03,489] INFO ResourceManager (R2RemoteStorage('https://pub-3555e9bb2d304fab9c6c79819e48aa40.r2.dev')) using: + symlink_dir=/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets + cache_dir=/home/yuanpei/.cache/molmo-spaces-resources + force_install=True +/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py:129: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +[2026-05-26 19:48:10,279] INFO Requested MolmoSpaces simulator cameras: ['droid_shoulder_light_randomization', 'wrist_camera_zed_mini'] +[2026-05-26 19:48:10,279] INFO Using save_video_sensors=['__none__'] +[2026-05-26 19:48:15,710] INFO Resolved MolmoSpaces action semantics from checkpoint: source=pnp_next_to_v2 type=molmo_raw arm_action_key=joint_pos_rel gripper_action_key=joint_pos action_type=joint_pos_rel arm_command_mode=joint_rel_position +[2026-05-26 19:48:15,754] INFO Using explicit task_horizon override: 450 steps +[05/26 19:48:16 INFO pipeline.py:677] WandB logging disabled (environment variables not set) +[2026-05-26 19:48:16,183] INFO JsonEvalRunner initialized: 115 houses, 119 episodes from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/26 19:48:16 INFO pipeline.py:1279] Starting house-by-house rollout of 115 houses with 2 episodes each (230 total episodes) using 1 worker processes +[05/26 19:48:16 INFO pipeline.py:1286] Evaluation configuration: +[05/26 19:48:16 INFO pipeline.py:1287] {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['droid_shoulder_light_randomization', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 'wan_molmobot_franka', + 'obs_camera_name': 'droid_shoulder_light_randomization', + 'obs_image_key': 'rgb_head', + 'obs_state_key': 'robot_state', + 'obs_wrist_camera_name': 'wrist_camera_zed_mini', + 'obs_wrist_image_key': 'rgb_wrist', + 'policy_cls': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [573, + 621, + 683, + 729, + 781, + 866, + 928, + 1037, + 1165, + 1225, + 1320, + 1387, + 1502, + 1610, + 1729, + 1777, + 1902, + 1978, + 2039, + 2162, + 2266, + 2374, + 2475, + 2537, + 2678, + 2800, + 2873, + 2970, + 3062, + 3095, + 3208, + 3263, + 3300, + 3390, + 3450, + 3529, + 3635, + 3742, + 3790, + 3918, + 4041, + 4145, + 4216, + 4240, + 4291, + 4325, + 4400, + 4494, + 4622, + 4680, + 4716, + 4800, + 4872, + 4962, + 5067, + 5164, + 5203, + 5382, + 5459, + 5546, + 5612, + 5668, + 5773, + 5897, + 5928, + 6068, + 6143, + 6205, + 6269, + 6303, + 6391, + 6437, + 6469, + 6557, + 6705, + 6767, + 6903, + 6978, + 7015, + 7083, + 7174, + 7286, + 7346, + 7396, + 7453, + 7568, + 7668, + 7765, + 7856, + 7970, + 8056, + 8125, + 8224, + 8277, + 8386, + 8421, + 8428, + 8506, + 8627, + 8701, + 8795, + 8878, + 8950, + 9020, + 9080, + 9153, + 9228, + 9305, + 9420, + 9494, + 9541, + 9632, + 9710, + 9821, + 9940], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} +[2026-05-26 19:48:16,189] INFO Saved experiment configuration to /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815 +[05/26 19:48:16 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler +[05/26 19:48:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/26 19:48:16 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler +[05/26 19:48:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 573 (index 0/115) +[05/26 19:48:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 573 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/26 19:48:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +[05/26 19:48:36 Worker 0 WARNING object_manager.py:1238] Could not find object objaaerosolcan_b6b64dc8ae6049dbba19ae2cef3575bb_1_0_5 in scene +Goal: place cream ceramic sugar bowl with handle next to transparent soap bottle with pump +2026-05-26 19:48:37.003 | INFO | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0 +[2026-05-26 19:48:38,004] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k) +[2026-05-26 19:48:38,752] INFO [timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k] Safe alternative available for 'pytorch_model.bin' (as 'model.safetensors'). Loading weights using safetensors. +[2026-05-26 19:48:39,277] INFO Number of parameters in DiT: 1.821428e+07 +[2026-05-26 19:48:39,479] INFO Loaded generic psi-policy checkpoint | target=psi_policy.policy.psi_policy.PsiPolicy | obs_keys=['rgb_head', 'rgb_wrist', 'robot_state', 'text_context'] | action_horizon=16 | action_dim=8 +[2026-05-26 19:48:39,482] INFO Loaded MolmoSpaces policy | checkpoint=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt | target=psi_policy.policy.psi_policy.PsiPolicy | device=cuda:0 | action_chunk_size=8 +[05/26 20:03:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 573 episode 0 object objasugarbowl_9b683d621e1b4ca384050d16215b1f5b_1_0_2 completed with success=False +[05/26 20:03:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_573: 1 episodes +[05/26 20:03:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:03:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:03:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_573 +[05/26 20:03:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_573 in 2.69s (batch: 2.60s, save: 0.09s) +[05/26 20:03:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_573 +[05/26 20:03:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 573: 0/1 successful episodes +[05/26 20:03:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 621 (index 1/115) +[05/26 20:03:19 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 621 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/26 20:03:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +Goal: place white ceramic teacup with handle next to ornate bronze faucet with curve +[2026-05-26 20:04:29,881] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/huggingface_hub/file_download.py:945: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`. + warnings.warn( +[05/26 20:14:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 621 episode 0 object objateacup_027f9a512d2e49a582290e8a47ae68ed_1_0_6 completed with success=False +[05/26 20:14:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_621: 1 episodes +[05/26 20:14:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:14:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:14:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_621 +[05/26 20:14:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_621 in 2.36s (batch: 2.27s, save: 0.09s) +[05/26 20:14:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_621 +[05/26 20:14:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 621: 0/1 successful episodes +[05/26 20:14:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 683 (index 2/115) +[05/26 20:14:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 683 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/26 20:14:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/9 [00:00 does not support tracking retries. +Goal: place garlic next to green tool +[2026-05-26 20:15:24,294] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 20:15:54 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 20:21:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 683 episode 0 object objagarlic_4dd64ee00ff94f7488ff7793c74a8cdf_1_0_2 completed with success=False +[05/26 20:21:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_683: 1 episodes +[05/26 20:21:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:21:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:21:58 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_683 +[05/26 20:21:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_683 in 2.73s (batch: 2.65s, save: 0.09s) +[05/26 20:21:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_683 +[05/26 20:21:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 683: 0/1 successful episodes +[05/26 20:21:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 729 (index 3/115) +[05/26 20:21:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 729 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/26 20:21:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +[05/26 20:22:01 Worker 0 WARNING object_manager.py:1238] Could not find object objatoycamera_8eff73b71375445a8ba75949d58bd3e0_1_0_6 in scene +Goal: place glossy red bell pepper next to smooth green apple +[2026-05-26 20:23:04,089] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 20:23:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 20:32:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 729 episode 0 object objabellpepper_9e344338f741427aa5c5809e04b8a979_1_0_6 completed with success=False +[05/26 20:32:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_729: 1 episodes +[05/26 20:32:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:32:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:32:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_729 +[05/26 20:32:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_729 in 2.39s (batch: 2.30s, save: 0.09s) +[05/26 20:32:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_729 +[05/26 20:32:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 729: 0/1 successful episodes +[05/26 20:32:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 781 (index 4/115) +[05/26 20:32:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 781 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/26 20:32:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/62 [00:00 does not support tracking retries. +[05/26 20:33:17 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +Goal: place elongated metal finial with base next to brown poop emoji with smile +[2026-05-26 20:34:20,594] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 20:53:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 781 episode 0 object objafinial_4d7c210e36894fa489a2c4f2954531d9_1_0_3 completed with success=False +[05/26 20:53:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_781: 1 episodes +[05/26 20:53:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:53:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:53:58 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_781 +[05/26 20:53:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_781 in 2.81s (batch: 2.72s, save: 0.09s) +[05/26 20:53:59 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_781 +[05/26 20:53:59 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 781: 0/1 successful episodes +[05/26 20:53:59 Worker 0 INFO pipeline.py:473] Worker 0 starting house 866 (index 5/115) +[05/26 20:53:59 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 866 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/26 20:53:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/14 [00:00 does not support tracking retries. +Goal: place wooden pestle with jagged top next to transparent soap bottle with pump +[2026-05-26 20:55:01,542] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 20:55:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 21:02:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 866 episode 0 object objapestle_668fa2b7443e423f8b0d252d82a3d100_1_0_2 completed with success=False +[05/26 21:02:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_866: 1 episodes +[05/26 21:02:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:02:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:02:15 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_866 +[05/26 21:02:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_866 in 2.77s (batch: 2.68s, save: 0.09s) +[05/26 21:02:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_866 +[05/26 21:02:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 866: 0/1 successful episodes +[05/26 21:02:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 928 (index 6/115) +[05/26 21:02:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 928 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/26 21:02:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/60 [00:00 does not support tracking retries. +Goal: place wooden handle metal bell next to modern metal desk lamp +[2026-05-26 21:03:51,838] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:21:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 928 episode 0 object objahandbell_f020483b3c5949539fa4a3502fea05ad_1_0_6 completed with success=False +[05/26 21:21:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_928: 1 episodes +[05/26 21:21:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:21:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:21:26 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_928 +[05/26 21:21:26 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_928 in 2.34s (batch: 2.25s, save: 0.09s) +[05/26 21:21:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_928 +[05/26 21:21:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 928: 0/1 successful episodes +[05/26 21:21:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1037 (index 7/115) +[05/26 21:21:26 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1037 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/26 21:21:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +Goal: place metal stake next to brown and blue compact alarm clock +[2026-05-26 21:22:50,508] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:23:19 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 21:38:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 1037 episode 0 object objastake_b79cee771e604eec8845a1d74dbb417a_1_0_6 completed with success=False +[05/26 21:38:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1037: 1 episodes +[05/26 21:38:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:38:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:38:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1037 +[05/26 21:38:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1037 in 2.89s (batch: 2.80s, save: 0.09s) +[05/26 21:38:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1037 +[05/26 21:38:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1037: 0/1 successful episodes +[05/26 21:38:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1165 (index 8/115) +[05/26 21:38:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1165 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/26 21:38:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/26 21:38:45 Worker 0 WARNING object_manager.py:1238] Could not find object bowl_be7868e9f68042e57983c0b0aeec19df_1_0_7 in scene +Goal: place gray roller assembly with black frame next to green tree +[2026-05-26 21:39:47,354] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:40:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 21:53:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 1165 episode 0 object objarollerassembly_974c0781de924642a00b6c3e1c56462b_1_0_3 completed with success=False +[05/26 21:53:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1165: 1 episodes +[05/26 21:53:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:53:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:53:47 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1165 +[05/26 21:53:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1165 in 2.90s (batch: 2.81s, save: 0.10s) +[05/26 21:53:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1165 +[05/26 21:53:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1165: 0/1 successful episodes +[05/26 21:53:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1225 (index 9/115) +[05/26 21:53:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1225 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/26 21:53:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +[05/26 21:54:31 Worker 0 WARNING object_manager.py:1238] Could not find object objadentures_46145e0221e94a3185b215c07d0f4340_1_0_9 in scene +[05/26 21:54:31 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_3_0_9 in scene +Goal: place garlic next to chocolate nut ice cream +[2026-05-26 21:55:34,777] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:12:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 1225 episode 0 object objagarlic_4dd64ee00ff94f7488ff7793c74a8cdf_1_0_2 completed with success=False +[05/26 22:12:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1225: 1 episodes +[05/26 22:12:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:12:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:12:58 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1225 +[05/26 22:12:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1225 in 2.50s (batch: 2.41s, save: 0.09s) +[05/26 22:12:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1225 +[05/26 22:12:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1225: 0/1 successful episodes +[05/26 22:12:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1320 (index 10/115) +[05/26 22:12:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1320 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/26 22:12:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/53 [00:00 does not support tracking retries. +Goal: place brown medium potato next to green cup with flared rim +[2026-05-26 22:14:51,477] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:15:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 22:33:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 1320 episode 0 object Irishpotato_4ccdc5ebde4d6fee07ff9eefb0b60cfb_1_0_2 completed with success=False +[05/26 22:33:50 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1320: 1 episodes +[05/26 22:33:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:33:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:33:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1320 +[05/26 22:33:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1320 in 2.85s (batch: 2.76s, save: 0.09s) +[05/26 22:33:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1320 +[05/26 22:33:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1320: 0/1 successful episodes +[05/26 22:33:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1387 (index 11/115) +[05/26 22:33:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1387 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/26 22:33:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +Goal: place handheld tool next to bulbous shiny gold vase +[2026-05-26 22:35:28,023] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:52:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 1387 episode 0 object objahandheldtool_73568d0c5842467b973426acd033a47d_1_0_7 completed with success=False +[05/26 22:52:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1387: 1 episodes +[05/26 22:52:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:52:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:52:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1387 +[05/26 22:52:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1387 in 2.84s (batch: 2.74s, save: 0.09s) +[05/26 22:52:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1387 +[05/26 22:52:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1387: 0/1 successful episodes +[05/26 22:52:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1502 (index 12/115) +[05/26 22:52:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1502 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/26 22:52:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +Goal: place long slender dark stick next to white molding with flowers +[2026-05-26 22:54:05,342] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:54:39 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 23:04:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 1502 episode 0 object objadecorativestick_bfc1cb3341914d5aa3f6633ef58b4106_1_0_6 completed with success=False +[05/26 23:04:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1502: 1 episodes +[05/26 23:04:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:04:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:04:47 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1502 +[05/26 23:04:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1502 in 2.30s (batch: 2.21s, save: 0.09s) +[05/26 23:04:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1502 +[05/26 23:04:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1502: 0/1 successful episodes +[05/26 23:04:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1610 (index 13/115) +[05/26 23:04:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1610 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/26 23:04:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +Goal: place vintage metal calendar next to black submarine +[2026-05-26 23:06:25,383] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:13:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 1610 episode 0 object objadeskcalendar_c0ddec650d304adbb5d6730f43205dda_1_0_3 completed with success=False +[05/26 23:13:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1610: 1 episodes +[05/26 23:13:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:13:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:13:39 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1610 +[05/26 23:13:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1610 in 2.32s (batch: 2.23s, save: 0.09s) +[05/26 23:13:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1610 +[05/26 23:13:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1610: 0/1 successful episodes +[05/26 23:13:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1729 (index 14/115) +[05/26 23:13:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1729 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/26 23:13:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +Goal: place sleek metallic juicer with legs next to soap bottle +[2026-05-26 23:14:46,007] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:15:23 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 23:25:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 1729 episode 0 object objajuicer_781344ece32d4692affe82c5474c0b75_1_0_6 completed with success=False +[05/26 23:25:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1729: 1 episodes +[05/26 23:25:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:25:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:25:54 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1729 +[05/26 23:25:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1729 in 2.29s (batch: 2.20s, save: 0.09s) +[05/26 23:25:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1729 +[05/26 23:25:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1729: 0/1 successful episodes +[05/26 23:25:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1777 (index 15/115) +[05/26 23:25:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1777 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/26 23:25:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +Goal: place moka pot next to glossy translucent cup with flared top +[2026-05-26 23:27:10,075] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:27:42 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 23:42:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 1777 episode 0 object objamokapot_8d83a1f7c94045b38e5c62fc4feecb0b_1_0_2 completed with success=False +[05/26 23:42:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1777: 1 episodes +[05/26 23:42:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:42:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:42:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1777 +[05/26 23:42:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1777 in 3.01s (batch: 2.92s, save: 0.09s) +[05/26 23:42:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1777 +[05/26 23:42:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1777: 0/1 successful episodes +[05/26 23:42:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1902 (index 16/115) +[05/26 23:42:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1902 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/26 23:42:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +Goal: place tangled wire sphere next to glossy black dog statue sitting +[2026-05-26 23:45:05,744] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:59:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 1902 episode 0 object objawiresculpture_12c19793bbfa432ebbb8c920f01ac72d_2_0_3 completed with success=False +[05/26 23:59:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1902: 1 episodes +[05/26 23:59:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:59:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:59:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1902 +[05/26 23:59:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1902 in 2.80s (batch: 2.71s, save: 0.09s) +[05/26 23:59:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1902 +[05/26 23:59:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1902: 0/1 successful episodes +[05/26 23:59:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1978 (index 17/115) +[05/26 23:59:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1978 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/26 23:59:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/58 [00:00 does not support tracking retries. +[05/27 00:02:45 Worker 0 WARNING object_manager.py:1238] Could not find object objajewelry_5d13ef83fc9f496fb99b97e4f0e5e610_2_0_9 in scene +[05/27 00:02:45 Worker 0 WARNING object_manager.py:1238] Could not find object objalantern_9d65ca34fa3d432b9372c9cdb60a9a00_1_0_9 in scene +Goal: place flat brown h-shaped rectangular piece next to conical soap bottle with pump +[2026-05-27 00:03:47,776] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:04:23 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:23:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 1978 episode 0 object objacomponent_5ca9a2c89480421592cd65b82d2a028b_1_0_2 completed with success=False +[05/27 00:23:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1978: 1 episodes +[05/27 00:23:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:23:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:23:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1978 +[05/27 00:23:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1978 in 2.32s (batch: 2.23s, save: 0.09s) +[05/27 00:23:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1978 +[05/27 00:23:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1978: 0/1 successful episodes +[05/27 00:23:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2039 (index 18/115) +[05/27 00:23:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2039 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 00:23:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +Goal: place wooden stake topped with red gem next to bulbous shiny gold metallic vase +[2026-05-27 00:25:11,580] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:25:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:37:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 2039 episode 0 object objadecorativestake_f7da54612fcd4df18fc7db6392979318_1_0_4 completed with success=False +[05/27 00:37:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2039: 1 episodes +[05/27 00:37:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:37:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:37:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2039 +[05/27 00:37:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2039 in 2.80s (batch: 2.71s, save: 0.09s) +[05/27 00:37:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2039 +[05/27 00:37:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2039: 0/1 successful episodes +[05/27 00:37:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2162 (index 19/115) +[05/27 00:37:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2162 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 00:37:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +[05/27 00:37:16 Worker 0 WARNING object_manager.py:1238] Could not find object pencil_2c624e64d6f8a208a3a089ad77d16aa1_1_0_4 in scene +[05/27 00:37:16 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingpanel_a3d6f7df9ff94ed59f95d5086d5f3fdd_1_0_7 in scene +Goal: place blue hammer with orange handle next to murphy +[2026-05-27 00:38:19,111] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:38:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:50:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 2162 episode 0 object objahandtool_ed6973497d074fd6969fd06f52e8da04_1_0_6 completed with success=False +[05/27 00:50:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2162: 1 episodes +[05/27 00:50:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:50:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:50:12 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2162 +[05/27 00:50:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2162 in 2.31s (batch: 2.22s, save: 0.09s) +[05/27 00:50:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2162 +[05/27 00:50:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2162: 0/1 successful episodes +[05/27 00:50:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2266 (index 20/115) +[05/27 00:50:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2266 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 00:50:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/7 [00:00 does not support tracking retries. +Goal: place glossy green cup next to glossy round bowl +[2026-05-27 00:51:21,048] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:51:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:57:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 2266 episode 0 object cup_8d9428c0be7f5e5aef31cf7e5152e057_1_0_2 completed with success=False +[05/27 00:57:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2266: 1 episodes +[05/27 00:57:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:57:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:57:58 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2266 +[05/27 00:57:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2266 in 2.76s (batch: 2.68s, save: 0.09s) +[05/27 00:57:59 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2266 +[05/27 00:57:59 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2266: 0/1 successful episodes +[05/27 00:57:59 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2374 (index 21/115) +[05/27 00:57:59 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2374 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 00:57:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +Goal: place dark spiked mace next to round brown bread +[2026-05-27 00:59:09,263] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:16:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 2374 episode 0 object objamace_8bf2eabaaf7f4ee09641ae6fec234644_1_0_2 completed with success=False +[05/27 01:16:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2374: 1 episodes +[05/27 01:16:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:16:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:16:47 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2374 +[05/27 01:16:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2374 in 2.81s (batch: 2.72s, save: 0.09s) +[05/27 01:16:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2374 +[05/27 01:16:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2374: 0/1 successful episodes +[05/27 01:16:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2475 (index 22/115) +[05/27 01:16:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2475 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 01:16:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +Goal: place polygon next to terracotta molding +[2026-05-27 01:17:53,851] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:18:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 01:27:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 2475 episode 0 object objadecorativewedge_6c209105d3fe4d7db6a3520ceb255e96_1_0_6 completed with success=False +[05/27 01:27:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2475: 1 episodes +[05/27 01:27:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:27:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:27:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2475 +[05/27 01:27:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2475 in 2.34s (batch: 2.25s, save: 0.09s) +[05/27 01:27:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2475 +[05/27 01:27:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2475: 0/1 successful episodes +[05/27 01:27:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2537 (index 23/115) +[05/27 01:27:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2537 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 01:27:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +[05/27 01:27:18 Worker 0 WARNING object_manager.py:1238] Could not find object objawasher_5b84965c8c494251b103c5b9e8d5692a_1_0_5 in scene +[05/27 01:27:18 Worker 0 WARNING object_manager.py:1238] Could not find object objaaerosolcan_b6b64dc8ae6049dbba19ae2cef3575bb_1_0_5 in scene +[05/27 01:27:18 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_9 in scene +Goal: place burnt white candle next to colorful puzzle cube +[2026-05-27 01:28:22,318] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:28:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 01:39:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 2537 episode 0 object objacandle_464b8c40369549e98243c274e894bd4b_1_0_9 completed with success=False +[05/27 01:39:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2537: 1 episodes +[05/27 01:39:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:40:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:40:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2537 +[05/27 01:40:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2537 in 2.80s (batch: 2.71s, save: 0.09s) +[05/27 01:40:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2537 +[05/27 01:40:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2537: 0/1 successful episodes +[05/27 01:40:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2678 (index 24/115) +[05/27 01:40:02 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2678 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 01:40:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/44 [00:00 does not support tracking retries. +Goal: place vintage black camera with lens next to polished silver-gray metal vase +[2026-05-27 01:41:11,011] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:56:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 2678 episode 0 object objacamera_6e9951dd41be4ae5b98a3e1857b94671_1_0_7 completed with success=False +[05/27 01:56:35 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2678: 1 episodes +[05/27 01:56:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:56:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:56:38 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2678 +[05/27 01:56:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2678 in 2.76s (batch: 2.67s, save: 0.09s) +[05/27 01:56:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2678 +[05/27 01:56:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2678: 0/1 successful episodes +[05/27 01:56:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2800 (index 25/115) +[05/27 01:56:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2800 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 01:56:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +Goal: place jagged white marble piece with veins next to soapdispenser +[2026-05-27 01:58:09,984] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:58:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 02:05:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 2800 episode 0 object objamarblesculpture_969d17f91b324a6c9e0b1d1f649a1463_1_0_6 completed with success=False +[05/27 02:05:58 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2800: 1 episodes +[05/27 02:05:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:06:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:06:01 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2800 +[05/27 02:06:01 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2800 in 2.89s (batch: 2.80s, save: 0.09s) +[05/27 02:06:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2800 +[05/27 02:06:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2800: 0/1 successful episodes +[05/27 02:06:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2873 (index 26/115) +[05/27 02:06:02 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2873 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 02:06:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +Goal: place brown animal statuette next to radio link +[2026-05-27 02:07:38,680] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:08:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 02:19:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 2873 episode 0 object objastatuette_c02a6cb0ecd141669ce2dfed1e31a126_1_0_4 completed with success=False +[05/27 02:19:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2873: 1 episodes +[05/27 02:19:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:19:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:19:48 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2873 +[05/27 02:19:48 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2873 in 2.30s (batch: 2.21s, save: 0.09s) +[05/27 02:19:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2873 +[05/27 02:19:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2873: 0/1 successful episodes +[05/27 02:19:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2970 (index 27/115) +[05/27 02:19:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2970 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 02:19:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/44 [00:00 does not support tracking retries. +[05/27 02:19:53 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_5 in scene +[05/27 02:19:53 Worker 0 WARNING object_manager.py:1238] Could not find object objafaceplate_521c117e4216443f9cb116f01483a230_1_0_7 in scene +[05/27 02:19:53 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_083eb9b9eb564701820d3a79377c77ce_1_0_7 in scene +Goal: place fantasy hammer next to olive scalloped ceramic plate +[2026-05-27 02:20:56,564] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:21:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 02:34:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 2970 episode 0 object objafantasyhammer_ee13a88b5c134317b0b1da1d14403ddd_1_0_8 completed with success=False +[05/27 02:34:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2970: 1 episodes +[05/27 02:34:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:34:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:34:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2970 +[05/27 02:34:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2970 in 2.45s (batch: 2.36s, save: 0.09s) +[05/27 02:34:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2970 +[05/27 02:34:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2970: 0/1 successful episodes +[05/27 02:34:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3062 (index 28/115) +[05/27 02:34:35 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 3062 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 02:34:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +[05/27 02:34:41 Worker 0 WARNING object_manager.py:1238] Could not find object objaadhesivetape_55b9776915594b80a4b1a1a8c20dcdb6_1_0_8 in scene +[05/27 02:34:41 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_116f2e48d98aa5352b25743c587e8255_1_0_8 in scene +Goal: place sportsshoe next to red lighthouse +[2026-05-27 02:35:44,395] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:52:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 3062 episode 0 object objasportsshoe_6b4506025d2e4c38bf943c377e53a82b_1_0_5 completed with success=False +[05/27 02:52:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +[05/27 02:52:20 Worker 0 WARNING object_manager.py:1238] Could not find object objaadhesivetape_55b9776915594b80a4b1a1a8c20dcdb6_1_0_8 in scene +[05/27 02:52:20 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_116f2e48d98aa5352b25743c587e8255_1_0_8 in scene +Goal: place munition next to rustic wooden corbel support +[2026-05-27 02:53:22,893] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:53:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 03:09:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 3062 episode 1 object objaexplosivedevice_6d333be39e454b458d48ad86f8a78df4_1_0_4 completed with success=False +[05/27 03:09:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3062: 2 episodes +[05/27 03:09:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:09:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:09:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:09:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:09:46 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3062 +[05/27 03:09:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3062 in 5.68s (batch: 5.50s, save: 0.17s) +[05/27 03:09:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3062 +[05/27 03:09:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3062: 0/2 successful episodes +[05/27 03:09:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3095 (index 29/115) +[05/27 03:09:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3095 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 03:09:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +Goal: place worn vintage gameboy console next to blue book +[2026-05-27 03:10:58,789] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:11:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 03:19:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 3095 episode 0 object objahandheldgameconsole_021b1586089044278164dadc584abb89_1_0_7 completed with success=False +[05/27 03:19:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3095: 1 episodes +[05/27 03:19:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:19:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:19:27 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3095 +[05/27 03:19:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3095 in 2.72s (batch: 2.63s, save: 0.09s) +[05/27 03:19:28 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3095 +[05/27 03:19:28 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3095: 0/1 successful episodes +[05/27 03:19:28 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3208 (index 30/115) +[05/27 03:19:28 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3208 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 03:19:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/27 [00:00 does not support tracking retries. +Goal: place long colorful strip with texture next to ornate silver and gold gavel +[2026-05-27 03:20:37,771] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:21:12 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 03:31:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 3208 episode 0 object objadecorativetrim_f8312d4b1883445ea7fd521a4504fde3_1_0_7 completed with success=False +[05/27 03:31:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3208: 1 episodes +[05/27 03:31:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:31:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:31:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3208 +[05/27 03:31:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3208 in 2.77s (batch: 2.68s, save: 0.09s) +[05/27 03:31:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3208 +[05/27 03:31:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3208: 0/1 successful episodes +[05/27 03:31:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3263 (index 31/115) +[05/27 03:31:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3263 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 03:31:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/53 [00:00 does not support tracking retries. +Goal: place vintage metallic camera with floral engravings next to oval brown potato +[2026-05-27 03:32:35,231] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:33:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 03:42:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 3263 episode 0 object objacamera_966235cef3f34f40aa8bd19063c6c411_1_0_2 completed with success=False +[05/27 03:42:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3263: 1 episodes +[05/27 03:42:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:42:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:42:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3263 +[05/27 03:42:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3263 in 2.78s (batch: 2.69s, save: 0.09s) +[05/27 03:42:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3263 +[05/27 03:42:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3263: 0/1 successful episodes +[05/27 03:42:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3300 (index 32/115) +[05/27 03:42:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3300 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 03:42:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/56 [00:00 +[05/27 03:42:55 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/27 03:42:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/27 03:42:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' +[05/27 03:42:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' +[05/27 03:42:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/27 03:42:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the open brown cardboard box packaging and place it next to the vintage blue twin-bell alarm clock' +[05/27 03:42:55 Worker 0 INFO pipeline.py:1050] Worker 0 house 3300 episode 0/1 collected=0/2 +[05/27 03:42:55 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +Goal: place open brown cardboard box packaging next to vintage blue twin-bell alarm clock +[2026-05-27 03:43:59,138] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:05:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 3300 episode 0 object box_5358700257a2427d72759d135597dc51_1_0_7 completed with success=False +[05/27 04:05:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3300: 1 episodes +[05/27 04:05:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:05:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:05:07 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3300 +[05/27 04:05:07 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3300 in 2.29s (batch: 2.20s, save: 0.09s) +[05/27 04:05:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3300 +[05/27 04:05:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3300: 0/1 successful episodes +[05/27 04:05:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3390 (index 33/115) +[05/27 04:05:07 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3390 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 04:05:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +[05/27 04:05:12 Worker 0 WARNING object_manager.py:1238] Could not find object objaearring_4e81a083ae304ff4a9fe0cf50a3afd50_1_0_8 in scene +Goal: place white rectangular electrical connector next to blue soap bottle with golden pump +[2026-05-27 04:06:15,822] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:06:54 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:12:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 3390 episode 0 object objaelectricalconnector_dbdf5d0c07ab4d7ca8814ef57c537dd9_1_0_8 completed with success=False +[05/27 04:12:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3390: 1 episodes +[05/27 04:12:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:12:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:12:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3390 +[05/27 04:12:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3390 in 2.90s (batch: 2.79s, save: 0.11s) +[05/27 04:12:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3390 +[05/27 04:12:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3390: 0/1 successful episodes +[05/27 04:12:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3450 (index 34/115) +[05/27 04:12:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3450 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 04:12:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/13 [00:00 does not support tracking retries. +Goal: place yellow kitchen knife with blade next to soapdispenser +[2026-05-27 04:13:25,373] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:13:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:21:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 3450 episode 0 object knife_7db4ef03593a98cc5b883c623dde8d9f_1_0_2 completed with success=False +[05/27 04:21:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3450: 1 episodes +[05/27 04:21:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:21:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:21:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3450 +[05/27 04:21:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3450 in 2.82s (batch: 2.73s, save: 0.09s) +[05/27 04:21:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3450 +[05/27 04:21:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3450: 0/1 successful episodes +[05/27 04:21:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3529 (index 35/115) +[05/27 04:21:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3529 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 04:21:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +Goal: place dark metal frying pan next to bulbous shiny gold metallic vase +[2026-05-27 04:22:33,085] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:23:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:37:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 3529 episode 0 object cookingpan_7d858738a424e980049e4c1d86d8d3a5_1_0_2 completed with success=False +[05/27 04:38:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3529: 1 episodes +[05/27 04:38:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:38:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:38:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3529 +[05/27 04:38:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3529 in 2.69s (batch: 2.60s, save: 0.09s) +[05/27 04:38:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3529 +[05/27 04:38:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3529: 0/1 successful episodes +[05/27 04:38:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3635 (index 36/115) +[05/27 04:38:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3635 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 04:38:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/59 [00:00 does not support tracking retries. +[05/27 04:38:15 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativelighthouse_e8bb24878c544adcb484f431f4c9790e_1_0_5 in scene +[05/27 04:38:15 Worker 0 WARNING object_manager.py:1238] Could not find object objawasher_43e7ebcba34645448a997c3d03054d33_1_0_5 in scene +[05/27 04:38:15 Worker 0 WARNING object_manager.py:1238] Could not find object objamodeltower_f5b9396794dc4bc7882aeb32a400da98_1_0_9 in scene +[05/27 04:38:15 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_9 in scene +Goal: place metal clamp with orange grips next to gray bird +[2026-05-27 04:39:18,189] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:58:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 3635 episode 0 object objaspringclamp_a548ac5c9d014c83afed99f47f0eb118_1_0_3 completed with success=False +[05/27 04:58:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3635: 1 episodes +[05/27 04:58:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:58:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:58:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3635 +[05/27 04:58:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3635 in 2.76s (batch: 2.67s, save: 0.09s) +[05/27 04:58:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3635 +[05/27 04:58:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3635: 0/1 successful episodes +[05/27 04:58:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3742 (index 37/115) +[05/27 04:58:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3742 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 04:58:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +Goal: place blue handheld device with cylindrical barrel next to green lettuce +[2026-05-27 04:59:19,544] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:59:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 05:07:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 3742 episode 0 object objatool_7fbf9a210de74910b0ab4bbe740fce1c_1_0_6 completed with success=False +[05/27 05:07:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3742: 1 episodes +[05/27 05:07:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:07:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:07:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3742 +[05/27 05:07:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3742 in 2.40s (batch: 2.31s, save: 0.09s) +[05/27 05:07:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3742 +[05/27 05:07:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3742: 0/1 successful episodes +[05/27 05:07:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3790 (index 38/115) +[05/27 05:07:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3790 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 05:07:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[05/27 05:07:23 Worker 0 WARNING object_manager.py:1238] Could not find object objanoveltyaxe_fdade657c4cc47ad96cf428fc10b3120_1_0_6 in scene +[05/27 05:07:23 Worker 0 WARNING object_manager.py:1238] Could not find object bowl_8f6844832379a39c0316319c38fb1803_1_0_6 in scene +Goal: place realistic detailed ivory skull next to tall dark gray decorative pillow +[2026-05-27 05:08:27,046] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:09:03 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 05:16:02 Worker 0 INFO pipeline.py:1114] Worker 0 house 3790 episode 0 object objaskullmodel_3550b1feb37745b6a6dbec510ccb740b_1_0_4 completed with success=False +[05/27 05:16:06 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3790: 1 episodes +[05/27 05:16:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:16:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:16:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3790 +[05/27 05:16:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3790 in 2.84s (batch: 2.75s, save: 0.09s) +[05/27 05:16:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3790 +[05/27 05:16:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3790: 0/1 successful episodes +[05/27 05:16:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3918 (index 39/115) +[05/27 05:16:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3918 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 05:16:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/27 05:16:13 Worker 0 WARNING object_manager.py:1238] Could not find object objasponge_f21d15e2964648989a80c23bfa0b932c_1_0_5 in scene +[05/27 05:16:13 Worker 0 WARNING object_manager.py:1238] Could not find object objaspraycan_f761c777f54e414dba0b54dbab6453c7_1_0_5 in scene +Goal: place candle next to dark green matte suppressor device +[2026-05-27 05:17:16,590] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:29:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 3918 episode 0 object candle_ef48126e155d4ed0804b46d4b3a42ca2_1_0_9 completed with success=False +[05/27 05:29:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3918: 1 episodes +[05/27 05:29:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:29:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:29:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3918 +[05/27 05:29:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3918 in 2.77s (batch: 2.68s, save: 0.09s) +[05/27 05:29:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3918 +[05/27 05:29:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3918: 0/1 successful episodes +[05/27 05:29:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4041 (index 40/115) +[05/27 05:29:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4041 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 05:29:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/17 [00:00 does not support tracking retries. +[05/27 05:29:45 Worker 0 WARNING object_manager.py:1238] Could not find object apple_523cec3bd66eec1b41ffd2506874d275_1_0_2 in scene +Goal: place yellow kitchen knife with sharp blade next to human hand +[2026-05-27 05:30:48,956] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:31:25 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 05:38:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 4041 episode 0 object knife_0bc93f198121d33ac4030a34bfc944a4_1_0_2 completed with success=False +[05/27 05:38:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4041: 1 episodes +[05/27 05:38:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:38:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:38:08 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4041 +[05/27 05:38:08 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4041 in 2.76s (batch: 2.67s, save: 0.09s) +[05/27 05:38:08 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4041 +[05/27 05:38:08 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4041: 0/1 successful episodes +[05/27 05:38:08 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4145 (index 41/115) +[05/27 05:38:08 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4145 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 05:38:08 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/14 [00:00 does not support tracking retries. +Goal: place blue vhs with horror design next to clear glass martini cup +[2026-05-27 05:39:17,063] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:39:49 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 05:46:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 4145 episode 0 object objavhstape_dc3c4b3cc513486b87a9d5f7d344d132_1_0_2 completed with success=False +[05/27 05:46:04 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4145: 1 episodes +[05/27 05:46:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:46:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:46:07 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4145 +[05/27 05:46:07 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4145 in 2.76s (batch: 2.67s, save: 0.09s) +[05/27 05:46:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4145 +[05/27 05:46:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4145: 0/1 successful episodes +[05/27 05:46:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4216 (index 42/115) +[05/27 05:46:07 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4216 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 05:46:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +Goal: place brown gourd seedpod next to wooden trophy with pink white emblem +[2026-05-27 05:47:28,928] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:48:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 05:55:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 4216 episode 0 object objagourd_ecf826d7f2ba4486b7841f0536b72a4a_1_0_2 completed with success=False +[05/27 05:55:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4216: 1 episodes +[05/27 05:55:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:55:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:55:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4216 +[05/27 05:55:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4216 in 2.80s (batch: 2.71s, save: 0.09s) +[05/27 05:55:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4216 +[05/27 05:55:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4216: 0/1 successful episodes +[05/27 05:55:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4240 (index 43/115) +[05/27 05:55:45 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4240 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 05:55:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/53 [00:00 does not support tracking retries. +[05/27 05:55:50 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativesign_4550080e417a4e118eff3979d3b62874_1_0_7 in scene +Goal: place black ribbed plastic cap next to purple rectangular shiny quilted pillow +[2026-05-27 05:56:54,455] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:12:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 4240 episode 0 object objacap_3a40810c85cd4576af04b66e5a18e6a0_1_0_8 completed with success=False +[05/27 06:12:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/53 [00:00 does not support tracking retries. +[05/27 06:12:51 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativesign_4550080e417a4e118eff3979d3b62874_1_0_7 in scene +Goal: place green and yellow sponge next to tall transparent cup +[2026-05-27 06:13:54,885] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:14:32 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 06:29:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 4240 episode 1 object objacleaningsponge_97aee64edf0c4521b82416f3b30c61ce_1_0_2 completed with success=False +[05/27 06:29:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4240: 2 episodes +[05/27 06:29:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:29:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:29:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:29:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:29:21 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4240 +[05/27 06:29:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4240 in 5.45s (batch: 5.29s, save: 0.17s) +[05/27 06:29:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4240 +[05/27 06:29:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4240: 0/2 successful episodes +[05/27 06:29:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4291 (index 44/115) +[05/27 06:29:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4291 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 06:29:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/6 [00:00 does not support tracking retries. +Goal: place gunsuppressor next to modern black toaster with metallic ridges +[2026-05-27 06:30:30,477] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:31:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 06:36:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 4291 episode 0 object objagunsuppressor_9616f6013c204a49a9d90758f8e83faf_1_0_2 completed with success=False +[05/27 06:36:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4291: 1 episodes +[05/27 06:36:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:36:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:36:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4291 +[05/27 06:36:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4291 in 2.82s (batch: 2.73s, save: 0.09s) +[05/27 06:36:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4291 +[05/27 06:36:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4291: 0/1 successful episodes +[05/27 06:36:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4325 (index 45/115) +[05/27 06:36:19 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4325 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 06:36:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/18 [00:00 does not support tracking retries. +Goal: place matte gray wraparound safety glasses next to bulbous shiny gold metallic vase +[2026-05-27 06:37:23,594] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:37:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 06:46:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 4325 episode 0 object objasafetyglasses_7e6a9db3e19a4cc2b49bcea5fef1d7bb_1_0_2 completed with success=False +[05/27 06:46:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4325: 1 episodes +[05/27 06:46:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:46:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:46:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4325 +[05/27 06:46:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4325 in 2.36s (batch: 2.26s, save: 0.09s) +[05/27 06:46:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4325 +[05/27 06:46:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4325: 0/1 successful episodes +[05/27 06:46:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4400 (index 46/115) +[05/27 06:46:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4400 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 06:46:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/13 [00:00 does not support tracking retries. +Goal: place gray hourglass-shaped cup next to glossy green cup +[2026-05-27 06:47:15,407] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:47:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 06:55:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 4400 episode 0 object cup_03f875ba63b7adc57ed0b350736f7167_1_0_2 completed with success=False +[05/27 06:55:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4400: 1 episodes +[05/27 06:55:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:55:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:55:28 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4400 +[05/27 06:55:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4400 in 2.39s (batch: 2.30s, save: 0.09s) +[05/27 06:55:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4400 +[05/27 06:55:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4400: 0/1 successful episodes +[05/27 06:55:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4494 (index 47/115) +[05/27 06:55:29 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4494 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 06:55:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +[05/27 06:55:33 Worker 0 WARNING object_manager.py:1238] Could not find object vase_485850bef5e28630dd1156aaec2e3528_1_0_5 in scene +Goal: place movie camera next to dark statue +[2026-05-27 06:56:36,264] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:57:08 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 07:10:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 4494 episode 0 object objamoviecamera_64bd72851ef349ef9cd24403df1789ad_1_0_2 completed with success=False +[05/27 07:10:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4494: 1 episodes +[05/27 07:10:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:10:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:10:27 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4494 +[05/27 07:10:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4494 in 2.37s (batch: 2.28s, save: 0.09s) +[05/27 07:10:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4494 +[05/27 07:10:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4494: 0/1 successful episodes +[05/27 07:10:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4622 (index 48/115) +[05/27 07:10:27 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4622 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 07:10:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/27 07:10:38 Worker 0 WARNING object_manager.py:1238] Could not find object objaornatebook_b14f9bd1248c4501a0c30e27d3561207_1_0_4 in scene +[05/27 07:10:38 Worker 0 WARNING object_manager.py:1238] Could not find object laptop_02864bed4cf19e35d7f7f9b34005b51f_1_0_4 in scene +[05/27 07:10:38 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_4 in scene +[05/27 07:10:38 Worker 0 WARNING object_manager.py:1238] Could not find object objabrush_1c94b10f01654a0c928acbccf0db141e_1_0_5 in scene +Goal: place red pin next to red white striped lighthouse with roof +[2026-05-27 07:11:40,953] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:12:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 07:27:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 4622 episode 0 object objamarker_c94bb25528ca4d3288cd278be03479ad_1_0_7 completed with success=False +[05/27 07:27:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4622: 1 episodes +[05/27 07:27:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:27:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:27:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4622 +[05/27 07:27:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4622 in 3.00s (batch: 2.90s, save: 0.09s) +[05/27 07:27:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4622 +[05/27 07:27:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4622: 0/1 successful episodes +[05/27 07:27:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4680 (index 49/115) +[05/27 07:27:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4680 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 07:27:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +Goal: place round rustic goblet next to blow drier +[2026-05-27 07:28:45,321] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:29:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 07:36:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 4680 episode 0 object objagoblet_eca84b5c63d243e0b7b13b703875d869_1_0_2 completed with success=False +[05/27 07:36:46 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4680: 1 episodes +[05/27 07:36:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:36:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:36:49 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4680 +[05/27 07:36:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4680 in 2.83s (batch: 2.73s, save: 0.09s) +[05/27 07:36:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4680 +[05/27 07:36:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4680: 0/1 successful episodes +[05/27 07:36:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4716 (index 50/115) +[05/27 07:36:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4716 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 07:36:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[05/27 07:37:00 Worker 0 WARNING object_manager.py:1238] Could not find object objasponge_fc6f343e05344c49baa810fb280e9dcb_1_0_5 in scene +Goal: place red pin next to small beige clay tablet with engravings +[2026-05-27 07:38:03,617] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:52:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 4716 episode 0 object objamarker_c94bb25528ca4d3288cd278be03479ad_1_0_7 completed with success=False +[05/27 07:52:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4716: 1 episodes +[05/27 07:52:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:52:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:52:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4716 +[05/27 07:52:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4716 in 2.77s (batch: 2.68s, save: 0.09s) +[05/27 07:52:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4716 +[05/27 07:52:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4716: 0/1 successful episodes +[05/27 07:52:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4800 (index 51/115) +[05/27 07:52:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4800 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 07:52:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/26 [00:00 does not support tracking retries. +Goal: place red bell pepper with stem next to smokingpipe +[2026-05-27 07:53:20,382] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:53:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 08:03:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 4800 episode 0 object objavegetable_d8d6bb178d07401aa9c94faab14e0b4f_1_0_6 completed with success=False +[05/27 08:03:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4800: 1 episodes +[05/27 08:03:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:03:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:03:57 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4800 +[05/27 08:03:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4800 in 2.81s (batch: 2.72s, save: 0.09s) +[05/27 08:03:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4800 +[05/27 08:03:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4800: 0/1 successful episodes +[05/27 08:03:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4872 (index 52/115) +[05/27 08:03:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4872 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 08:03:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +[05/27 08:04:02 Worker 0 WARNING object_manager.py:1238] Could not find object objasneaker_75c97069e89c4d84ab36922b77a97678_1_0_5 in scene +[05/27 08:04:02 Worker 0 WARNING object_manager.py:1238] Could not find object objanecklace_6cb44b2639434029872f4a0a03e42521_1_0_5 in scene +[05/27 08:04:02 Worker 0 WARNING object_manager.py:1238] Could not find object candle_1b82c5d62bcdb9c9e0fbc639fdc9e22a_1_0_5 in scene +Goal: place green smoke grenade with lever next to glossy black trophy +[2026-05-27 08:05:06,508] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:05:39 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 08:15:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 4872 episode 0 object objasmokegrenade_eb6b544af0ec4072b52d193c4d90efad_1_0_7 completed with success=False +[05/27 08:15:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4872: 1 episodes +[05/27 08:15:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:15:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:15:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4872 +[05/27 08:15:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4872 in 2.37s (batch: 2.28s, save: 0.09s) +[05/27 08:15:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4872 +[05/27 08:15:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4872: 0/1 successful episodes +[05/27 08:15:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4962 (index 53/115) +[05/27 08:15:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4962 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 08:15:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +Goal: place sleek black hairdryer with pink opening next to green dragon axe +[2026-05-27 08:16:40,332] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:17:13 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 08:32:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 4962 episode 0 object objahairdryer_9ddac67ac88d47758c8e85f154a61dbb_1_0_7 completed with success=False +[05/27 08:32:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4962: 1 episodes +[05/27 08:32:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:32:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:32:24 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4962 +[05/27 08:32:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4962 in 2.92s (batch: 2.83s, save: 0.09s) +[05/27 08:32:25 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4962 +[05/27 08:32:25 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4962: 0/1 successful episodes +[05/27 08:32:25 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5067 (index 54/115) +[05/27 08:32:25 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5067 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 08:32:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +[05/27 08:32:39 Worker 0 WARNING object_manager.py:1238] Could not find object objamodelairship_268669ad2fc54aafac3003b1656d2b20_1_0_6 in scene +[05/27 08:32:39 Worker 0 WARNING object_manager.py:1238] Could not find object laptop_a57856d0ecd933c51f9e8bf8f3bcf569_1_0_6 in scene +Goal: place portable black handheld radio with antenna next to beige fedora hat +[2026-05-27 08:33:43,956] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:36:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 5067 episode 0 object objawalkietalkie_282d16b8d5a84343953eb6d8d135722a_1_0_6 completed with success=True +[05/27 08:36:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5067: 1 episodes +[05/27 08:36:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 75 timesteps +[05/27 08:36:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:36:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5067 +[05/27 08:36:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5067 in 2.56s (batch: 2.53s, save: 0.03s) +[05/27 08:36:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5067 +[05/27 08:36:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5067: 1/1 successful episodes +[05/27 08:36:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5164 (index 55/115) +[05/27 08:36:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5164 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 08:36:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +Goal: place weathered stone medallion with flower next to brown egg +[2026-05-27 08:37:55,292] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:52:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 5164 episode 0 object objadecorativemedallion_8ac2c0dc500f4477ad31ccfd82a106f3_1_0_2 completed with success=False +[05/27 08:52:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5164: 1 episodes +[05/27 08:52:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:52:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:52:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5164 +[05/27 08:52:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5164 in 2.78s (batch: 2.69s, save: 0.09s) +[05/27 08:52:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5164 +[05/27 08:52:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5164: 0/1 successful episodes +[05/27 08:52:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5203 (index 56/115) +[05/27 08:52:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5203 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 08:52:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +Goal: place black axe with camouflage handle next to tomato +[2026-05-27 08:53:46,154] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:54:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 09:07:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 5203 episode 0 object objatacticaltool_939742983522410db0d0d18b38b5f48a_1_0_8 completed with success=False +[05/27 09:07:50 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5203: 1 episodes +[05/27 09:07:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:07:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:07:52 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5203 +[05/27 09:07:52 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5203 in 2.39s (batch: 2.30s, save: 0.09s) +[05/27 09:07:52 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5203 +[05/27 09:07:52 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5203: 0/1 successful episodes +[05/27 09:07:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5382 (index 57/115) +[05/27 09:07:52 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5382 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 09:07:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +Goal: place vintage wooden stamp handle next to bronze full-figured statue +[2026-05-27 09:09:00,318] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:09:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 09:21:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 5382 episode 0 object objastamp_08c428ecb76446c288479a3b95dfd144_1_0_9 completed with success=False +[05/27 09:21:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5382: 1 episodes +[05/27 09:21:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:21:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:21:51 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5382 +[05/27 09:21:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5382 in 2.74s (batch: 2.66s, save: 0.09s) +[05/27 09:21:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5382 +[05/27 09:21:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5382: 0/1 successful episodes +[05/27 09:21:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5459 (index 58/115) +[05/27 09:21:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5459 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 09:21:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +[05/27 09:23:13 Worker 0 WARNING object_manager.py:1238] Could not find object objafossilizedseashell_1b5378b435b246c094197cdf1b2801ee_1_0_4 in scene +[05/27 09:23:13 Worker 0 WARNING object_manager.py:1238] Could not find object alarmclock_85647c60207a07a17bbd65025ae5d72c_1_0_4 in scene +Goal: place gray handheld video camera with handle next to slim blue cell phone with pattern +[2026-05-27 09:24:16,099] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:24:49 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 09:35:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 5459 episode 0 object objavideocamera_55426eda2ba244a4b177e4b85400937c_1_0_7 completed with success=False +[05/27 09:35:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5459: 1 episodes +[05/27 09:35:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:35:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:35:12 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5459 +[05/27 09:35:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5459 in 2.83s (batch: 2.74s, save: 0.09s) +[05/27 09:35:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5459 +[05/27 09:35:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5459: 0/1 successful episodes +[05/27 09:35:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5546 (index 59/115) +[05/27 09:35:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5546 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 09:35:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/12 [00:00 does not support tracking retries. +Goal: place brown wooden studded club next to thick yellow hardcover programming book +[2026-05-27 09:36:23,843] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:36:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 09:44:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 5546 episode 0 object objadecorativeclub_de3246c2dea44185bf857acbcc51ae3b_1_0_2 completed with success=False +[05/27 09:44:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5546: 1 episodes +[05/27 09:44:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:44:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:44:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5546 +[05/27 09:44:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5546 in 2.77s (batch: 2.69s, save: 0.09s) +[05/27 09:44:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5546 +[05/27 09:44:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5546: 0/1 successful episodes +[05/27 09:44:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5612 (index 60/115) +[05/27 09:44:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5612 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 09:44:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/27 [00:00 does not support tracking retries. +Goal: place decorative eye sculpture next to glossy black dog statue +[2026-05-27 09:45:56,717] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:46:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 09:56:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 5612 episode 0 object objadecorativeeyesculpture_454bf9901cee4629b2e3b87541c8ab1f_1_0_4 completed with success=False +[05/27 09:56:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5612: 1 episodes +[05/27 09:56:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:56:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:56:43 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5612 +[05/27 09:56:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5612 in 2.77s (batch: 2.68s, save: 0.09s) +[05/27 09:56:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5612 +[05/27 09:56:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5612: 0/1 successful episodes +[05/27 09:56:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5668 (index 61/115) +[05/27 09:56:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5668 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 09:56:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +Goal: place gray rectangular vintage phone next to purple rectangular shiny quilted pillow +[2026-05-27 09:58:14,092] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:58:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 10:14:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 5668 episode 0 object objavintagemobilephone_440be7eb5de8469f84dbadefec1f0786_1_0_4 completed with success=False +[05/27 10:14:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5668: 1 episodes +[05/27 10:14:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:14:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:14:28 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5668 +[05/27 10:14:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5668 in 2.40s (batch: 2.30s, save: 0.09s) +[05/27 10:14:28 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5668 +[05/27 10:14:28 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5668: 0/1 successful episodes +[05/27 10:14:28 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5773 (index 62/115) +[05/27 10:14:28 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5773 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 10:14:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +[05/27 10:14:44 Worker 0 WARNING object_manager.py:1238] Could not find object objacoresample_1523f4c39bc84375b9ebf4e66fe972bf_1_0_2 in scene +Goal: place beige cartoon skeleton figure next to white candle with number four +[2026-05-27 10:15:48,314] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:16:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 10:28:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 5773 episode 0 object objaskeletonfigure_d607a92aa9b54909b993535f96997115_2_0_4 completed with success=False +[05/27 10:28:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5773: 1 episodes +[05/27 10:28:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:28:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:28:08 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5773 +[05/27 10:28:08 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5773 in 2.73s (batch: 2.65s, save: 0.09s) +[05/27 10:28:08 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5773 +[05/27 10:28:08 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5773: 0/1 successful episodes +[05/27 10:28:08 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5897 (index 63/115) +[05/27 10:28:08 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5897 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 10:28:08 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +Goal: place silver cross with grip next to black rectangular computer monitor +[2026-05-27 10:30:07,264] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:41:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 5897 episode 0 object objadecorativestake_a7b05f15639049798a22ae3976000dc4_1_0_5 completed with success=False +[05/27 10:41:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5897: 1 episodes +[05/27 10:41:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:41:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:41:43 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5897 +[05/27 10:41:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5897 in 2.81s (batch: 2.72s, save: 0.09s) +[05/27 10:41:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5897 +[05/27 10:41:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5897: 0/1 successful episodes +[05/27 10:41:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5928 (index 64/115) +[05/27 10:41:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5928 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 10:41:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/18 [00:00 does not support tracking retries. +Goal: place small circular device projecting blue light next to realistic primate skull +[2026-05-27 10:42:54,586] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:43:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 10:51:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 5928 episode 0 object objaholographicprojector_9860e2270f1245698995adce759c187f_1_0_2 completed with success=False +[05/27 10:51:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5928: 1 episodes +[05/27 10:51:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:51:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:51:19 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5928 +[05/27 10:51:19 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5928 in 2.33s (batch: 2.24s, save: 0.09s) +[05/27 10:51:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5928 +[05/27 10:51:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5928: 0/1 successful episodes +[05/27 10:51:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6068 (index 65/115) +[05/27 10:51:19 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6068 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 10:51:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +[05/27 10:51:40 Worker 0 WARNING object_manager.py:1238] Could not find object laptop_f09fcf086ebe9e3ab2d97bff50b833ef_1_0_5 in scene +Goal: place striped wasp next to gray rubber mallet with wooden handle +[2026-05-27 10:52:42,840] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:53:16 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 11:05:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 6068 episode 0 object objainsect_4c74d77df5ee41948218f8a620ec1228_1_0_2 completed with success=False +[05/27 11:05:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6068: 1 episodes +[05/27 11:05:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:05:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:05:51 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6068 +[05/27 11:05:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6068 in 2.85s (batch: 2.75s, save: 0.09s) +[05/27 11:05:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6068 +[05/27 11:05:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6068: 0/1 successful episodes +[05/27 11:05:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6143 (index 66/115) +[05/27 11:05:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6143 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 11:05:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/8 [00:00 does not support tracking retries. +Goal: place porcelain dish with colorful floral patterns next to smooth red apple with stem +[2026-05-27 11:06:57,194] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:07:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 11:13:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 6143 episode 0 object objadish_0f1f3038a3144ab88d39739cc980fdc1_1_0_2 completed with success=False +[05/27 11:13:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6143: 1 episodes +[05/27 11:13:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:13:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:13:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6143 +[05/27 11:13:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6143 in 2.78s (batch: 2.69s, save: 0.09s) +[05/27 11:13:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6143 +[05/27 11:13:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6143: 0/1 successful episodes +[05/27 11:13:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6205 (index 67/115) +[05/27 11:13:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6205 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 11:13:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +[05/27 11:13:38 Worker 0 WARNING object_manager.py:1238] Could not find object objamagnet_6123eb533c72464c976bbcbc79d0613c_1_0_6 in scene +Goal: place pop up card next to bulbous shiny gold vase +[2026-05-27 11:14:45,522] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:15:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 11:27:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 6205 episode 0 object objapopupcard_c384a40a36554ddeb1a0a08f8ec266d3_2_0_8 completed with success=False +[05/27 11:27:04 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6205: 1 episodes +[05/27 11:27:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:27:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:27:06 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6205 +[05/27 11:27:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6205 in 2.77s (batch: 2.68s, save: 0.10s) +[05/27 11:27:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6205 +[05/27 11:27:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6205: 0/1 successful episodes +[05/27 11:27:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6269 (index 68/115) +[05/27 11:27:07 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6269 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 11:27:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/24 [00:00 does not support tracking retries. +Goal: place blue soap bottle with orange pump next to gray bowl +[2026-05-27 11:28:22,810] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:28:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 11:38:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 6269 episode 0 object soapdispenser_a5b909071a32566c65c63f0ed9e3c5d4_1_0_6 completed with success=False +[05/27 11:38:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6269: 1 episodes +[05/27 11:38:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:38:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:38:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6269 +[05/27 11:38:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6269 in 2.78s (batch: 2.69s, save: 0.09s) +[05/27 11:38:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6269 +[05/27 11:38:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6269: 0/1 successful episodes +[05/27 11:38:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6303 (index 69/115) +[05/27 11:38:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6303 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 11:38:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +Goal: place blue marker next to translucent blue soap bottle with pump +[2026-05-27 11:39:21,230] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:39:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 11:47:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 6303 episode 0 object objamarkerpen_9ded8666275148929a57190ab939c735_1_0_6 completed with success=False +[05/27 11:47:17 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6303: 1 episodes +[05/27 11:47:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:47:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:47:19 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6303 +[05/27 11:47:19 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6303 in 2.32s (batch: 2.23s, save: 0.09s) +[05/27 11:47:20 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6303 +[05/27 11:47:20 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6303: 0/1 successful episodes +[05/27 11:47:20 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6391 (index 70/115) +[05/27 11:47:20 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6391 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 11:47:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +Goal: place rough corroded circular metal ring next to square olive green plate +[2026-05-27 11:48:34,056] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:49:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 12:02:02 Worker 0 INFO pipeline.py:1114] Worker 0 house 6391 episode 0 object objametalring_8b9edce1030849c0b2101af955b65b02_1_0_9 completed with success=False +[05/27 12:02:06 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6391: 1 episodes +[05/27 12:02:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:02:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:02:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6391 +[05/27 12:02:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6391 in 2.82s (batch: 2.73s, save: 0.09s) +[05/27 12:02:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6391 +[05/27 12:02:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6391: 0/1 successful episodes +[05/27 12:02:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6437 (index 71/115) +[05/27 12:02:09 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 6437 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 12:02:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +Goal: place blue milk carton with red logo next to rustic horn candleholder +[2026-05-27 12:03:24,980] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:03:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 12:19:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 6437 episode 0 object objamilkcarton_aa9103c0122246f68dd367e640df32bb_1_0_4 completed with success=False +[05/27 12:19:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +Goal: place small glossy turquoise eye of horus amulet next to dark laptop +[2026-05-27 12:20:32,941] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:36:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 6437 episode 1 object objaamulet_7300d219ed944585ace4b2509bef4f6e_1_0_3 completed with success=False +[05/27 12:36:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6437: 2 episodes +[05/27 12:36:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:36:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:36:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:36:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:36:32 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6437 +[05/27 12:36:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6437 in 4.72s (batch: 4.55s, save: 0.18s) +[05/27 12:36:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6437 +[05/27 12:36:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6437: 0/2 successful episodes +[05/27 12:36:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6469 (index 72/115) +[05/27 12:36:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6469 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 12:36:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/24 [00:00 does not support tracking retries. +Goal: place golden crescent moon pink wand next to laptop computer +[2026-05-27 12:37:39,127] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:38:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 12:49:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 6469 episode 0 object objadecorativewand_587b79d19e94452b8c825603fcbe834a_1_0_7 completed with success=False +[05/27 12:49:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6469: 1 episodes +[05/27 12:49:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:49:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:49:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6469 +[05/27 12:49:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6469 in 2.85s (batch: 2.76s, save: 0.09s) +[05/27 12:49:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6469 +[05/27 12:49:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6469: 0/1 successful episodes +[05/27 12:49:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6557 (index 73/115) +[05/27 12:49:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6557 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 12:49:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +[05/27 12:49:42 Worker 0 WARNING object_manager.py:1238] Could not find object objapartition_c493ffa0f0794041914d9d68dd439699_1_0_4 in scene +Goal: place equipment next to marblesculpture +[2026-05-27 12:50:50,648] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:05:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 6557 episode 0 object objatelephonehandset_0ddfdf35baa6475d9ba001a570eaeebd_1_0_6 completed with success=False +[05/27 13:05:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6557: 1 episodes +[05/27 13:05:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:05:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:05:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6557 +[05/27 13:05:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6557 in 2.79s (batch: 2.70s, save: 0.09s) +[05/27 13:05:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6557 +[05/27 13:05:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6557: 0/1 successful episodes +[05/27 13:05:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6705 (index 74/115) +[05/27 13:05:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6705 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 13:05:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +Goal: place classic red plastic cup with ridges next to smooth white triangular wedge with texture +[2026-05-27 13:06:34,496] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:07:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:17:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 6705 episode 0 object objaplasticcup_22798b1b718749608a0e729d576727a4_1_0_8 completed with success=False +[05/27 13:17:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6705: 1 episodes +[05/27 13:17:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:17:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:17:12 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6705 +[05/27 13:17:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6705 in 2.41s (batch: 2.31s, save: 0.10s) +[05/27 13:17:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6705 +[05/27 13:17:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6705: 0/1 successful episodes +[05/27 13:17:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6767 (index 75/115) +[05/27 13:17:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6767 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 13:17:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/5 [00:00 does not support tracking retries. +Goal: place transparent soap bottle with dark pump next to shallow dark round cooking pan +[2026-05-27 13:18:16,899] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:18:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:23:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 6767 episode 0 object soapdispenser_92169e2640439bd67fb105701482b508_1_0_2 completed with success=False +[05/27 13:23:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6767: 1 episodes +[05/27 13:23:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:23:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:23:51 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6767 +[05/27 13:23:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6767 in 2.82s (batch: 2.73s, save: 0.09s) +[05/27 13:23:52 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6767 +[05/27 13:23:52 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6767: 0/1 successful episodes +[05/27 13:23:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6903 (index 76/115) +[05/27 13:23:52 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6903 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 13:23:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +[05/27 13:24:09 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativepanel_a17676f45b3d483c9dc1910a2eb17269_1_0_5 in scene +Goal: place sleek dark blue triangular wedge next to plate +[2026-05-27 13:25:12,685] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:25:44 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:36:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 6903 episode 0 object objadecorativewedge_6c209105d3fe4d7db6a3520ceb255e96_1_0_8 completed with success=False +[05/27 13:36:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6903: 1 episodes +[05/27 13:36:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:36:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:36:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6903 +[05/27 13:36:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6903 in 2.85s (batch: 2.76s, save: 0.09s) +[05/27 13:36:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6903 +[05/27 13:36:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6903: 0/1 successful episodes +[05/27 13:36:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6978 (index 77/115) +[05/27 13:36:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6978 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 13:36:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +[05/27 13:36:47 Worker 0 WARNING object_manager.py:1238] Could not find object objacrocodileskull_839c00e0fed14ad38ee276b0e0806a60_1_0_4 in scene +[05/27 13:36:47 Worker 0 WARNING object_manager.py:1238] Could not find object plate_3a462adb63be096cddd3c836fdb52686_1_0_4 in scene +[05/27 13:36:47 Worker 0 WARNING object_manager.py:1238] Could not find object objadentures_9f8a86701e5549c6bf6004b4f58bdd31_1_0_5 in scene +[05/27 13:36:47 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_5 in scene +Goal: place black high-performance graphics card next to black metal scope mount with knob +[2026-05-27 13:37:51,541] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:38:30 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:54:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 6978 episode 0 object objagraphicscard_fab5cfb1c5c143878bdfc9be2f3827bb_1_0_3 completed with success=False +[05/27 13:54:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6978: 1 episodes +[05/27 13:54:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:54:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:54:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6978 +[05/27 13:54:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6978 in 2.31s (batch: 2.22s, save: 0.09s) +[05/27 13:54:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6978 +[05/27 13:54:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6978: 0/1 successful episodes +[05/27 13:54:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7015 (index 78/115) +[05/27 13:54:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7015 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 13:54:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[05/27 13:54:22 Worker 0 WARNING object_manager.py:1238] Could not find object statue_c1ca41050692ad4a2d2e80d2a1b1ad5f_1_0_9 in scene +Goal: place rectangular beige ceramic dish next to glossy translucent light blue bowl +[2026-05-27 13:55:26,581] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:55:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 14:08:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 7015 episode 0 object objaceramicdish_2ad1dfed7b784a2bb12fc7cbcb5f4831_1_0_8 completed with success=False +[05/27 14:09:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7015: 1 episodes +[05/27 14:09:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:09:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:09:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7015 +[05/27 14:09:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7015 in 2.41s (batch: 2.32s, save: 0.09s) +[05/27 14:09:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7015 +[05/27 14:09:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7015: 0/1 successful episodes +[05/27 14:09:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7083 (index 79/115) +[05/27 14:09:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7083 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 14:09:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/27 14:09:34 Worker 0 WARNING object_manager.py:1238] Could not find object objametalbar_2d1809423969400fbf94550978b1bcaa_1_0_8 in scene +Goal: place blue calendar with mountain design next to slim gold metallic phone +[2026-05-27 14:10:39,951] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:28:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 7083 episode 0 object objawallcalendar_3a39ed927ca343fa905a99dfe9093d5a_2_0_8 completed with success=False +[05/27 14:28:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7083: 1 episodes +[05/27 14:28:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:28:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:28:28 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7083 +[05/27 14:28:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7083 in 2.79s (batch: 2.70s, save: 0.09s) +[05/27 14:28:28 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7083 +[05/27 14:28:28 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7083: 0/1 successful episodes +[05/27 14:28:28 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7174 (index 80/115) +[05/27 14:28:28 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7174 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 14:28:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/27 14:28:41 Worker 0 WARNING object_manager.py:1238] Could not find object objacleaningsponge_afd092fac12f4ef8984b80d3d15de232_1_0_9 in scene +Goal: place black rectangular sunglasses next to mallet +[2026-05-27 14:29:44,791] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:42:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 7174 episode 0 object objasunglasses_c8d8a11e50f74bd390b35e4868984474_1_0_7 completed with success=False +[05/27 14:42:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7174: 1 episodes +[05/27 14:42:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:42:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:42:28 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7174 +[05/27 14:42:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7174 in 2.32s (batch: 2.23s, save: 0.09s) +[05/27 14:42:28 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7174 +[05/27 14:42:28 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7174: 0/1 successful episodes +[05/27 14:42:28 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7286 (index 81/115) +[05/27 14:42:28 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7286 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 14:42:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/18 [00:00 does not support tracking retries. +Goal: place pink gnome with beard next to glossy translucent light blue bowl +[2026-05-27 14:43:48,462] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:44:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 14:44:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 7286 episode 0 object objagardengnome_d2bbb5477fac472ca10ab8370aa18aae_1_0_2 completed with success=True +[05/27 14:44:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7286: 1 episodes +[05/27 14:44:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 43 timesteps +[05/27 14:44:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:44:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7286 +[05/27 14:44:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7286 in 2.16s (batch: 2.13s, save: 0.03s) +[05/27 14:44:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7286 +[05/27 14:44:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7286: 1/1 successful episodes +[05/27 14:44:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7346 (index 82/115) +[05/27 14:44:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7346 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 14:44:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +Goal: place tableware next to laptop computer +[2026-05-27 14:46:18,008] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:46:54 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:04:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 7346 episode 0 object bowl_80746f55d05634985152668dea7876a0_1_0_4 completed with success=False +[05/27 15:04:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7346: 1 episodes +[05/27 15:04:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:04:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:04:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7346 +[05/27 15:04:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7346 in 2.86s (batch: 2.77s, save: 0.09s) +[05/27 15:04:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7346 +[05/27 15:04:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7346: 0/1 successful episodes +[05/27 15:04:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7396 (index 83/115) +[05/27 15:04:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7396 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 15:04:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +[05/27 15:04:47 Worker 0 WARNING object_manager.py:1238] Could not find object objakylix_5151f64b23fa4e9491f064575622af19_1_0_7 in scene +Goal: place golden crimped pastry with crisscross pattern next to veggie +[2026-05-27 15:05:51,437] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:06:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:14:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 7396 episode 0 object objapastry_5c98cf58df074aa89633a055ddef2e49_1_0_6 completed with success=False +[05/27 15:14:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7396: 1 episodes +[05/27 15:14:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:14:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:14:58 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7396 +[05/27 15:14:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7396 in 2.78s (batch: 2.69s, save: 0.09s) +[05/27 15:14:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7396 +[05/27 15:14:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7396: 0/1 successful episodes +[05/27 15:14:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7453 (index 84/115) +[05/27 15:14:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7453 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 15:14:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[05/27 15:15:12 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_4 in scene +Goal: place white stand with red flag next to dentures +[2026-05-27 15:16:19,660] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:31:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 7453 episode 0 object objamarkerstand_4b59e422673a438685b77375029f7926_1_0_7 completed with success=False +[05/27 15:31:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7453: 1 episodes +[05/27 15:31:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:31:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:31:12 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7453 +[05/27 15:31:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7453 in 2.70s (batch: 2.61s, save: 0.09s) +[05/27 15:31:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7453 +[05/27 15:31:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7453: 0/1 successful episodes +[05/27 15:31:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7568 (index 85/115) +[05/27 15:31:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7568 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 15:31:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/8 [00:00 does not support tracking retries. +Goal: place gavel with brown handle and brass next to topographicalmap +[2026-05-27 15:32:19,466] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:32:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:38:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 7568 episode 0 object objagavel_2ae6147628c04ac7a28bfe2b5982b4c3_1_0_2 completed with success=False +[05/27 15:38:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7568: 1 episodes +[05/27 15:38:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:38:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:38:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7568 +[05/27 15:38:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7568 in 2.42s (batch: 2.33s, save: 0.09s) +[05/27 15:38:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7568 +[05/27 15:38:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7568: 0/1 successful episodes +[05/27 15:38:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7668 (index 86/115) +[05/27 15:38:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7668 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 15:38:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/44 [00:00 does not support tracking retries. +[05/27 15:38:23 Worker 0 WARNING object_manager.py:1238] Could not find object objaglove_437e50e2a7b441ba87d54392c39c0baf_1_0_8 in scene +[05/27 15:38:23 Worker 0 WARNING object_manager.py:1238] Could not find object objacandywrapper_f63a19caad054232bada31bf9dda010b_1_0_8 in scene +Goal: place blue eye with eyelashes next to spray bottle +[2026-05-27 15:39:27,192] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:40:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:53:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 7668 episode 0 object objadecorativeeye_9d390baaeec94960808345f88af56997_1_0_8 completed with success=False +[05/27 15:53:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7668: 1 episodes +[05/27 15:53:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:53:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:53:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7668 +[05/27 15:53:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7668 in 2.83s (batch: 2.74s, save: 0.09s) +[05/27 15:53:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7668 +[05/27 15:53:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7668: 0/1 successful episodes +[05/27 15:53:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7765 (index 87/115) +[05/27 15:53:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7765 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 15:53:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/24 [00:00 does not support tracking retries. +Goal: place futuristic purple toy blaster with accents next to yellow striped airship +[2026-05-27 15:54:29,421] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:55:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:55:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 7765 episode 0 object objatoyblaster_bd41ea9e538343b3a6f90b159a219d04_1_0_6 completed with success=True +[05/27 15:55:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7765: 1 episodes +[05/27 15:55:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 45 timesteps +[05/27 15:55:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:55:57 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7765 +[05/27 15:55:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7765 in 2.48s (batch: 2.45s, save: 0.03s) +[05/27 15:55:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7765 +[05/27 15:55:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7765: 1/1 successful episodes +[05/27 15:55:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7856 (index 88/115) +[05/27 15:55:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7856 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 15:55:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +[05/27 15:56:30 Worker 0 WARNING object_manager.py:1238] Could not find object objaspraycan_f761c777f54e414dba0b54dbab6453c7_1_0_5 in scene +Goal: place pink hexagonal headed screw next to brown loaf bread +[2026-05-27 15:57:34,146] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:58:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 16:13:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 7856 episode 0 object objascrew_3c8aee2219d3478c877857da97042133_1_0_2 completed with success=False +[05/27 16:13:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7856: 1 episodes +[05/27 16:13:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:13:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:13:39 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7856 +[05/27 16:13:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7856 in 2.42s (batch: 2.33s, save: 0.09s) +[05/27 16:13:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7856 +[05/27 16:13:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7856: 0/1 successful episodes +[05/27 16:13:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7970 (index 89/115) +[05/27 16:13:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7970 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 16:13:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +[05/27 16:13:57 Worker 0 WARNING object_manager.py:1238] Could not find object objatoy_4da717f372044adc85144a15e5479189_1_0_6 in scene +[05/27 16:13:57 Worker 0 WARNING object_manager.py:1238] Could not find object knife_8409451f726b7f0640a91ddd7ae630cf_1_0_6 in scene +Goal: place light rubber mallet with handle next to rugged gray rocky terrain with moss +[2026-05-27 16:15:00,231] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:16:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 7970 episode 0 object objarubbermallet_f6f3eee2d418463bbab1abe93e274d60_1_0_6 completed with success=True +[05/27 16:16:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7970: 1 episodes +[05/27 16:16:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 56 timesteps +[05/27 16:16:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:16:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7970 +[05/27 16:16:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7970 in 2.54s (batch: 2.51s, save: 0.03s) +[05/27 16:16:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7970 +[05/27 16:16:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7970: 1/1 successful episodes +[05/27 16:16:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8056 (index 90/115) +[05/27 16:16:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8056 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 16:16:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/11 [00:00 does not support tracking retries. +Goal: place dark telephone next to table lamp +[2026-05-27 16:17:59,546] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:18:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 16:21:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 8056 episode 0 object objatelephone_6f17039417674bb7b44d5dd823cb1c72_1_0_2 completed with success=False +[05/27 16:21:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8056: 1 episodes +[05/27 16:21:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:21:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:21:25 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8056 +[05/27 16:21:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8056 in 2.70s (batch: 2.61s, save: 0.09s) +[05/27 16:21:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8056 +[05/27 16:21:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8056: 0/1 successful episodes +[05/27 16:21:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8125 (index 91/115) +[05/27 16:21:26 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8125 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 16:21:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +Goal: place colorful cube next to dark rectangular plaque with engraved text +[2026-05-27 16:22:39,464] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:23:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 16:36:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 8125 episode 0 object objapuzzlecube_a330167eb4534097af6f386765b93f04_1_0_9 completed with success=False +[05/27 16:36:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8125: 1 episodes +[05/27 16:36:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:37:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:37:00 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8125 +[05/27 16:37:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8125 in 2.32s (batch: 2.23s, save: 0.09s) +[05/27 16:37:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8125 +[05/27 16:37:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8125: 0/1 successful episodes +[05/27 16:37:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8224 (index 92/115) +[05/27 16:37:00 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8224 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 16:37:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/27 16:37:26 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturelighthouse_bde6dcab0a89413eba4422da59f19cef_1_0_7 in scene +Goal: place black wireless ergonomic mouse next to gray bowl +[2026-05-27 16:38:29,502] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:39:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 16:52:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 8224 episode 0 object objacomputermouse_2b70993763034bef8587d3730c7ca8ff_1_0_9 completed with success=False +[05/27 16:52:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8224: 1 episodes +[05/27 16:52:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:52:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:52:47 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8224 +[05/27 16:52:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8224 in 2.32s (batch: 2.23s, save: 0.09s) +[05/27 16:52:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8224 +[05/27 16:52:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8224: 0/1 successful episodes +[05/27 16:52:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8277 (index 93/115) +[05/27 16:52:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8277 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 16:52:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +Goal: place antique dark metal knocker with figure next to black grenade with purple panels +[2026-05-27 16:54:05,875] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:54:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 17:04:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 8277 episode 0 object objadoorknocker_1186251805584e29b3fd39f83a54c8ae_1_0_2 completed with success=False +[05/27 17:04:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8277: 1 episodes +[05/27 17:04:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:04:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:04:57 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8277 +[05/27 17:04:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8277 in 2.37s (batch: 2.28s, save: 0.09s) +[05/27 17:04:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8277 +[05/27 17:04:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8277: 0/1 successful episodes +[05/27 17:04:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8386 (index 94/115) +[05/27 17:04:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8386 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 17:04:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/27 [00:00 does not support tracking retries. +[05/27 17:05:01 Worker 0 WARNING object_manager.py:1238] Could not find object objaclog_b931698a3f5f4fb2a1c27aae7f6120e2_1_0_5 in scene +[05/27 17:05:01 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_8c6e5265f19b49709119c2628c2bdf3f_1_0_5 in scene +Goal: place wooden gear next to gray bowl +[2026-05-27 17:06:05,689] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:06:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 17:16:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 8386 episode 0 object objamechanicalmodel_dafd23d4b0c5400da70f6aaf5782457b_1_0_7 completed with success=False +[05/27 17:16:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8386: 1 episodes +[05/27 17:16:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:16:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:16:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8386 +[05/27 17:16:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8386 in 2.31s (batch: 2.22s, save: 0.09s) +[05/27 17:16:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8386 +[05/27 17:16:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8386: 0/1 successful episodes +[05/27 17:16:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8421 (index 95/115) +[05/27 17:16:31 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 8421 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 17:16:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/27 17:16:43 Worker 0 WARNING object_manager.py:1238] Could not find object objabouquet_8dab593c78374d59abcf66c8185249cb_1_0_8 in scene +[05/27 17:16:43 Worker 0 WARNING object_manager.py:1238] Could not find object cellulartelephone_1fa394556eb37156656d60fc604d4668_2_0_8 in scene +Goal: place cylindrical dark nhl pencilcase next to small red barn model with windows +[2026-05-27 17:17:48,134] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:18:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 17:34:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 8421 episode 0 object objapencilcase_07e5a1bc68f2433eb8fb3db3582ec3d9_1_0_4 completed with success=False +[05/27 17:34:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/27 17:34:22 Worker 0 WARNING object_manager.py:1238] Could not find object objabouquet_8dab593c78374d59abcf66c8185249cb_1_0_8 in scene +[05/27 17:34:22 Worker 0 WARNING object_manager.py:1238] Could not find object cellulartelephone_1fa394556eb37156656d60fc604d4668_2_0_8 in scene +Goal: place crumpledpaper next to soap bottle +[2026-05-27 17:35:25,896] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:36:03 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 17:51:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 8421 episode 1 object objacrumpledpaper_bab9b0a4a3194165be4ac939c565d39f_1_0_2 completed with success=False +[05/27 17:51:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8421: 2 episodes +[05/27 17:51:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:51:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:51:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:51:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:51:45 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8421 +[05/27 17:51:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8421 in 5.58s (batch: 5.41s, save: 0.18s) +[05/27 17:51:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8421 +[05/27 17:51:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8421: 0/2 successful episodes +[05/27 17:51:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8428 (index 96/115) +[05/27 17:51:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8428 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 17:51:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +[05/27 17:51:59 Worker 0 WARNING object_manager.py:1238] Could not find object objanameplate_e8fa71a9f9394ea68e6e60ac33f7f27d_1_0_7 in scene +[05/27 17:51:59 Worker 0 WARNING object_manager.py:1238] Could not find object objawoodendowel_20ea40d2c37347e8831af61307c1f508_1_0_7 in scene +Goal: place chisel with wooden handle next to purple rectangular shiny quilted pillow +[2026-05-27 17:53:07,928] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:53:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 18:01:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 8428 episode 0 object objachisel_d40e8b39928a45d6a81eebe1c3149883_1_0_2 completed with success=False +[05/27 18:01:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8428: 1 episodes +[05/27 18:01:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:01:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:01:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8428 +[05/27 18:01:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8428 in 2.34s (batch: 2.25s, save: 0.09s) +[05/27 18:01:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8428 +[05/27 18:01:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8428: 0/1 successful episodes +[05/27 18:01:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8506 (index 97/115) +[05/27 18:01:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8506 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 18:01:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/14 [00:00 does not support tracking retries. +[05/27 18:01:22 Worker 0 WARNING object_manager.py:1238] Could not find object objaanimalmodel_f6e32918e34a420ca8f2207026242b7e_1_0_3 in scene +Goal: place round brown bread loaf next to red glass vase +[2026-05-27 18:02:26,485] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:03:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 18:09:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 8506 episode 0 object bread_41716c58b3d4c7691e7c0a1ca9c91854_1_0_2 completed with success=False +[05/27 18:10:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8506: 1 episodes +[05/27 18:10:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:10:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:10:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8506 +[05/27 18:10:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8506 in 2.84s (batch: 2.75s, save: 0.09s) +[05/27 18:10:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8506 +[05/27 18:10:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8506: 0/1 successful episodes +[05/27 18:10:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8627 (index 98/115) +[05/27 18:10:04 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8627 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 18:10:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +[05/27 18:10:13 Worker 0 WARNING object_manager.py:1238] Could not find object plate_b137b580936425a0757a2df506ec58fb_1_0_7 in scene +Goal: place spray bottle next to small stemmed red apple +[2026-05-27 18:11:18,664] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:11:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 18:21:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 8627 episode 0 object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_6 completed with success=False +[05/27 18:21:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8627: 1 episodes +[05/27 18:21:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:21:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:21:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8627 +[05/27 18:21:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8627 in 2.35s (batch: 2.27s, save: 0.09s) +[05/27 18:21:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8627 +[05/27 18:21:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8627: 0/1 successful episodes +[05/27 18:21:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8701 (index 99/115) +[05/27 18:21:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8701 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 18:21:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[05/27 18:21:20 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturecastletower_a08a00d32f694f219170f6867cbc7d46_2_0_5 in scene +[05/27 18:21:20 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativetile_7584f83361f546ed890ae9aa823df1cb_1_0_5 in scene +Goal: place white rectangular electrical component next to digital clock +[2026-05-27 18:22:23,868] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:38:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 8701 episode 0 object objaelectricalcomponent_aab3af6780ff4bb7a5ec47cb4046d811_1_0_6 completed with success=False +[05/27 18:38:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8701: 1 episodes +[05/27 18:38:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:38:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:38:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8701 +[05/27 18:38:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8701 in 2.83s (batch: 2.73s, save: 0.10s) +[05/27 18:38:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8701 +[05/27 18:38:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8701: 0/1 successful episodes +[05/27 18:38:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8795 (index 100/115) +[05/27 18:38:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8795 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 18:38:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +Goal: place gray metal rod with perforated top next to angular dark stealth aircraft with wings +[2026-05-27 18:39:37,421] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:55:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 8795 episode 0 object objamountingfixture_c45afc98ee6c4081a0091f6cb3b0ee66_1_0_2 completed with success=False +[05/27 18:55:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8795: 1 episodes +[05/27 18:55:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:55:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:55:47 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8795 +[05/27 18:55:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8795 in 2.33s (batch: 2.24s, save: 0.09s) +[05/27 18:55:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8795 +[05/27 18:55:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8795: 0/1 successful episodes +[05/27 18:55:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8878 (index 101/115) +[05/27 18:55:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8878 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 18:55:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/17 [00:00 does not support tracking retries. +[05/27 18:55:51 Worker 0 WARNING object_manager.py:1238] Could not find object pencil_2c624e64d6f8a208a3a089ad77d16aa1_1_0_2 in scene +Goal: place polished gold handbell next to invertebrate +[2026-05-27 18:56:56,030] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:04:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 8878 episode 0 object objahandbell_44ac826f5fce46ff8fdcbdafd15d4258_1_0_3 completed with success=False +[05/27 19:04:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8878: 1 episodes +[05/27 19:04:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:04:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:04:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8878 +[05/27 19:04:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8878 in 2.86s (batch: 2.77s, save: 0.09s) +[05/27 19:04:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8878 +[05/27 19:04:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8878: 0/1 successful episodes +[05/27 19:04:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8950 (index 102/115) +[05/27 19:04:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8950 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 19:04:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +Goal: place crumpled green nvidia package next to medium blue ceramic bowl with rim +[2026-05-27 19:06:20,610] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:06:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:20:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 8950 episode 0 object objapackage_a509f13063c642f9aa2f5a15aafa7f4e_1_0_8 completed with success=False +[05/27 19:20:04 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8950: 1 episodes +[05/27 19:20:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:20:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:20:06 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8950 +[05/27 19:20:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8950 in 2.36s (batch: 2.26s, save: 0.09s) +[05/27 19:20:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8950 +[05/27 19:20:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8950: 0/1 successful episodes +[05/27 19:20:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9020 (index 103/115) +[05/27 19:20:07 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9020 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 19:20:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 +[05/27 19:20:18 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/27 19:20:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/27 19:20:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' +[05/27 19:20:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' +[05/27 19:20:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/27 19:20:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the carton and place it next to the bronze statue of nude female' +[05/27 19:20:18 Worker 0 INFO pipeline.py:1050] Worker 0 house 9020 episode 0/1 collected=0/2 +[05/27 19:20:18 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/27 19:20:18 Worker 0 WARNING object_manager.py:1238] Could not find object objafossil_7a6f6ef6a5054f3b92a5ba06f451d0b3_1_0_8 in scene +[05/27 19:20:18 Worker 0 WARNING object_manager.py:1238] Could not find object plate_d3f03fb737fec5e1ec6a907be81b1810_1_0_8 in scene +Goal: place carton next to bronze statue of nude female +[2026-05-27 19:21:23,400] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:21:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:35:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 9020 episode 0 object box_e7e029a9fdad1078011b9d2693eb5ef1_1_0_4 completed with success=False +[05/27 19:35:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9020: 1 episodes +[05/27 19:35:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:35:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:35:24 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9020 +[05/27 19:35:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9020 in 2.88s (batch: 2.79s, save: 0.09s) +[05/27 19:35:25 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9020 +[05/27 19:35:25 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9020: 0/1 successful episodes +[05/27 19:35:25 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9080 (index 104/115) +[05/27 19:35:25 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9080 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 19:35:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +Goal: place sleek curved metal bottle opener next to yellow spiky hair bust silhouette +[2026-05-27 19:36:40,899] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:50:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 9080 episode 0 object objabottleopener_c64e41ddd1f84299b995b5fed1a3b43e_1_0_6 completed with success=False +[05/27 19:50:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9080: 1 episodes +[05/27 19:50:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:50:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:50:20 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9080 +[05/27 19:50:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9080 in 2.37s (batch: 2.28s, save: 0.09s) +[05/27 19:50:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9080 +[05/27 19:50:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9080: 0/1 successful episodes +[05/27 19:50:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9153 (index 105/115) +[05/27 19:50:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9153 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 19:50:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +[05/27 19:51:00 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_3 in scene +Goal: place light wooden bridge with arches next to purple and yellow pixelated knife +[2026-05-27 19:52:05,839] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:04:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 9153 episode 0 object objamodelbridge_02217be5148946099483fb93a7e9ab0a_1_0_2 completed with success=False +[05/27 20:04:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9153: 1 episodes +[05/27 20:04:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:04:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:04:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9153 +[05/27 20:04:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9153 in 2.75s (batch: 2.66s, save: 0.09s) +[05/27 20:04:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9153 +[05/27 20:04:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9153: 0/1 successful episodes +[05/27 20:04:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9228 (index 106/115) +[05/27 20:04:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9228 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 20:04:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/18 [00:00 does not support tracking retries. +Goal: place pastry next to glossy brown goblet cup for beverages +[2026-05-27 20:05:29,971] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:06:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:15:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 9228 episode 0 object objapastry_7fda2ce0924e4628be50bb75701ba41c_1_0_6 completed with success=False +[05/27 20:15:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9228: 1 episodes +[05/27 20:15:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:15:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:15:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9228 +[05/27 20:15:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9228 in 2.81s (batch: 2.72s, save: 0.09s) +[05/27 20:15:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9228 +[05/27 20:15:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9228: 0/1 successful episodes +[05/27 20:15:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9305 (index 107/115) +[05/27 20:15:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9305 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 20:15:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +[05/27 20:16:27 Worker 0 WARNING object_manager.py:1238] Could not find object objalantern_e31ea000207044df9a96178592bf27c8_1_0_5 in scene +[05/27 20:16:27 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_5 in scene +Goal: place traditional wooden rubber stamp with metal next to yellow realme box +[2026-05-27 20:17:31,022] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:18:04 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:28:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 9305 episode 0 object objarubberstamp_57b6ce9f7f0244e2b691d33c1bbde4ad_1_0_7 completed with success=False +[05/27 20:28:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9305: 1 episodes +[05/27 20:28:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:28:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:28:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9305 +[05/27 20:28:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9305 in 2.88s (batch: 2.79s, save: 0.09s) +[05/27 20:28:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9305 +[05/27 20:28:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9305: 0/1 successful episodes +[05/27 20:28:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9420 (index 108/115) +[05/27 20:28:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9420 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 20:28:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +Goal: place tall vase with scalloped rim next to vintage wooden stamp handle +[2026-05-27 20:30:02,839] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:30:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:40:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 9420 episode 0 object vase_167c6c1d7784abbddfcb5d35cfc28d28_1_0_9 completed with success=False +[05/27 20:40:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9420: 1 episodes +[05/27 20:40:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:40:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:40:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9420 +[05/27 20:40:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9420 in 2.29s (batch: 2.19s, save: 0.09s) +[05/27 20:40:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9420 +[05/27 20:40:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9420: 0/1 successful episodes +[05/27 20:40:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9494 (index 109/115) +[05/27 20:40:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9494 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 20:40:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/26 [00:00 does not support tracking retries. +[05/27 20:41:11 Worker 0 WARNING object_manager.py:1238] Could not find object objasponge_fc6f343e05344c49baa810fb280e9dcb_1_0_5 in scene +Goal: place white space shuttle with red markings next to blue bolster pillow +[2026-05-27 20:42:14,799] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:42:47 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:53:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 9494 episode 0 object objaspaceshuttlemodel_126c15b428494313a494c06822f2a756_1_0_7 completed with success=False +[05/27 20:53:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9494: 1 episodes +[05/27 20:53:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:53:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:53:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9494 +[05/27 20:53:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9494 in 2.34s (batch: 2.25s, save: 0.09s) +[05/27 20:53:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9494 +[05/27 20:53:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9494: 0/1 successful episodes +[05/27 20:53:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9541 (index 110/115) +[05/27 20:53:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9541 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 20:53:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/14 [00:00 does not support tracking retries. +[05/27 20:53:49 Worker 0 WARNING object_manager.py:1238] Could not find object objaadjustablewrench_b3373981536640b98483a890d9a14060_1_0_2 in scene +[05/27 20:53:49 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_f815ad52d37c217cefc0cafa7edbb112_1_0_2 in scene +Goal: place pink wand with red sphere next to tall dark cup with ridges base +[2026-05-27 20:54:53,283] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:57:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 9541 episode 0 object objadecorativewand_612582bc490a4353ba468a9839bf9119_1_0_2 completed with success=False +[05/27 20:57:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9541: 1 episodes +[05/27 20:57:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:57:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:57:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9541 +[05/27 20:57:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9541 in 2.74s (batch: 2.65s, save: 0.09s) +[05/27 20:57:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9541 +[05/27 20:57:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9541: 0/1 successful episodes +[05/27 20:57:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9632 (index 111/115) +[05/27 20:57:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9632 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 20:57:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/32 [00:00 does not support tracking retries. +[05/27 20:57:15 Worker 0 WARNING object_manager.py:1238] Could not find object objanoticeboard_30603b4f64764a10bb698df10f0c5453_1_0_5 in scene +[05/27 20:57:15 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativelighthouse_efc08602dbff41d28ab59d29b36fdb05_1_0_5 in scene +Goal: place transparent rectangular plastic storage container next to gray hardcover book with gold +[2026-05-27 20:58:21,986] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:58:54 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 21:10:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 9632 episode 0 object objastoragecontainer_1d9ba0041c5c409d9823eef8e50dde9b_1_0_6 completed with success=False +[05/27 21:10:46 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9632: 1 episodes +[05/27 21:10:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 21:10:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 21:10:49 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9632 +[05/27 21:10:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9632 in 2.77s (batch: 2.67s, save: 0.09s) +[05/27 21:10:49 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9632 +[05/27 21:10:49 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9632: 0/1 successful episodes +[05/27 21:10:49 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9710 (index 112/115) +[05/27 21:10:49 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9710 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 21:10:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[05/27 21:11:04 Worker 0 WARNING object_manager.py:1238] Could not find object objavhstape_dc3c4b3cc513486b87a9d5f7d344d132_1_0_6 in scene +[05/27 21:11:04 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_92169e2640439bd67fb105701482b508_1_0_7 in scene +Goal: place lavender soap bar with hole and emboss next to cream candle in blue holder +[2026-05-27 21:12:08,758] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 21:26:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 9710 episode 0 object objasoap_bc2d6e60f6ac4eccb55eb9026925c617_1_0_5 completed with success=False +[05/27 21:26:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9710: 1 episodes +[05/27 21:26:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 21:26:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 21:26:24 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9710 +[05/27 21:26:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9710 in 2.45s (batch: 2.36s, save: 0.09s) +[05/27 21:26:25 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9710 +[05/27 21:26:25 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9710: 0/1 successful episodes +[05/27 21:26:25 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9821 (index 113/115) +[05/27 21:26:25 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9821 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 21:26:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[05/27 21:27:01 Worker 0 WARNING object_manager.py:1238] Could not find object objaicon_c4a8fd71e3424524b20726223ee23883_1_0_7 in scene +Goal: place pink rectangular popsicle on stick next to medium oval brown potato with texture +[2026-05-27 21:28:04,552] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 21:28:44 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 21:43:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 9821 episode 0 object objapopsicle_d6caf34a19354df890e60be6786de20c_1_0_2 completed with success=False +[05/27 21:43:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9821: 1 episodes +[05/27 21:43:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 21:43:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 21:43:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9821 +[05/27 21:43:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9821 in 2.32s (batch: 2.23s, save: 0.09s) +[05/27 21:43:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9821 +[05/27 21:43:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9821: 0/1 successful episodes +[05/27 21:43:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9940 (index 114/115) +[05/27 21:43:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9940 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 21:43:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/17 [00:00 does not support tracking retries. +Goal: place black cross medal next to light blue dolphin with prominent fins +[2026-05-27 21:44:47,409] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 21:45:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 21:52:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 9940 episode 0 object objamedal_60d7eeb3f86343428d565e06d1e28703_1_0_2 completed with success=False +[05/27 21:52:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9940: 1 episodes +[05/27 21:52:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 21:52:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 21:52:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9940 +[05/27 21:52:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9940 in 2.73s (batch: 2.64s, save: 0.09s) +[05/27 21:52:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9940 +[05/27 21:52:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9940: 0/1 successful episodes +[05/27 21:52:34 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses +[05/27 21:52:35 INFO pipeline.py:1496] Completed 115 houses, skipped 0 houses +[05/27 21:52:35 INFO pipeline.py:1499] Success count: 4, Total count: 119 +[05/27 21:52:35 INFO pipeline.py:1500] Success rate: 3.36% +Combined 119 episodes from 115 files → /tmp/tmpk3xu8sg2.h5 + +Saved → /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/results.csv at-end: 3.36% | oracle: 3.36% of 119 episodes +[2026-05-27 21:52:48,847] INFO MolmoSpaces simulator eval finished: success=4/119 rate=0.0336 output=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval +[2026-05-27 21:52:48,847] INFO Benchmark CSV: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/results.csv diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/eval_meta.json b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/eval_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..eae4c2f46fb0338123fea144fd3d73443d5b6951 --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/eval_meta.json @@ -0,0 +1,9 @@ +{ + "step": null, + "checkpoint_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt", + "benchmark_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06", + "policy_name": "latest", + "command": "#!/usr/bin/env bash\nset -euo pipefail\ncd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy\nconda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament", + "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815", + "csv_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/results.csv" +} diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/results.csv b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/results.csv new file mode 100644 index 0000000000000000000000000000000000000000..83f7ccf7a00ecd0b761fe7f7939578e921929773 --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/results.csv @@ -0,0 +1,113 @@ +# policy_name: latest +# run_path: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815 +# dt: 0.066 +# max_steps: 450 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the blue handheld device with cylindrical barrel and place it next to the green lettuce", "object_name": "objatool_7fbf9a210de74910b0ab4bbe740fce1c_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3742/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3790", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the realistic detailed ivory skull and place it next to the tall dark gray decorative pillow", "object_name": "objaskullmodel_3550b1feb37745b6a6dbec510ccb740b_1_0_4", "data_file_path": 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yellow kitchen knife with sharp blade and place it next to the human hand", "object_name": "knife_0bc93f198121d33ac4030a34bfc944a4_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4041/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4145", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue vhs with horror design and place it next to the clear glass martini cup", "object_name": "objavhstape_dc3c4b3cc513486b87a9d5f7d344d132_1_0_2", "data_file_path": 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"task_description": "Pick up the black ribbed plastic cap and place it next to the purple rectangular shiny quilted pillow", "object_name": "objacap_3a40810c85cd4576af04b66e5a18e6a0_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4240/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4240", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green and yellow sponge and place it next to the tall transparent cup", "object_name": "objacleaningsponge_97aee64edf0c4521b82416f3b30c61ce_1_0_2", "data_file_path": 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"task_description": "Pick up the matte gray wraparound safety glasses and place it next to the bulbous shiny gold metallic vase", "object_name": "objasafetyglasses_7e6a9db3e19a4cc2b49bcea5fef1d7bb_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4325/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4400", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray hourglass-shaped cup and place it next to the glossy green cup", "object_name": "cup_03f875ba63b7adc57ed0b350736f7167_1_0_2", "data_file_path": 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place it next to the red white striped lighthouse with roof", "object_name": "objamarker_c94bb25528ca4d3288cd278be03479ad_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4622/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4680", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the round rustic goblet and place it next to the blow drier", "object_name": "objagoblet_eca84b5c63d243e0b7b13b703875d869_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4680/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4716", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red pin and place it next to the small beige clay tablet with engravings", "object_name": "objamarker_c94bb25528ca4d3288cd278be03479ad_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4716/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4800", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red bell pepper with stem and place it next to the smokingpipe", "object_name": "objavegetable_d8d6bb178d07401aa9c94faab14e0b4f_1_0_6", "data_file_path": 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"task_description": "Pick up the sleek black hairdryer with pink opening and place it next to the green dragon axe", "object_name": "objahairdryer_9ddac67ac88d47758c8e85f154a61dbb_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4962/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5067", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 73, "task_description": "Pick up the portable black handheld radio with antenna and place it next to the beige fedora hat", "object_name": "objawalkietalkie_282d16b8d5a84343953eb6d8d135722a_1_0_6", "data_file_path": 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"task_description": "Pick up the black axe with camouflage handle and place it next to the tomato", "object_name": "objatacticaltool_939742983522410db0d0d18b38b5f48a_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5203/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5382", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage wooden stamp handle and place it next to the bronze full-figured statue", "object_name": "objastamp_08c428ecb76446c288479a3b95dfd144_1_0_9", "data_file_path": 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449, "task_description": "Pick up the brown wooden studded club and place it next to the thick yellow hardcover programming book", "object_name": "objadecorativeclub_de3246c2dea44185bf857acbcc51ae3b_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5546/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5612", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the decorative eye sculpture and place it next to the glossy black dog statue", "object_name": "objadecorativeeyesculpture_454bf9901cee4629b2e3b87541c8ab1f_1_0_4", "data_file_path": 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"num_steps": 449, "task_description": "Pick up the cream ceramic sugar bowl with handle and place it next to the transparent soap bottle with pump", "object_name": "objasugarbowl_9b683d621e1b4ca384050d16215b1f5b_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_573/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5773", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the beige cartoon skeleton figure and place it next to the white candle with number four", "object_name": "objaskeletonfigure_d607a92aa9b54909b993535f96997115_2_0_4", "data_file_path": 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"task_description": "Pick up the small circular device projecting blue light and place it next to the realistic primate skull", "object_name": "objaholographicprojector_9860e2270f1245698995adce759c187f_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5928/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6068", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the striped wasp and place it next to the gray rubber mallet with wooden handle", "object_name": "objainsect_4c74d77df5ee41948218f8a620ec1228_1_0_2", "data_file_path": 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"task_description": "Pick up the pop up card and place it next to the bulbous shiny gold vase", "object_name": "objapopupcard_c384a40a36554ddeb1a0a08f8ec266d3_2_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6205/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_621", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white ceramic teacup with handle and place it next to the ornate bronze faucet with curve", "object_name": "objateacup_027f9a512d2e49a582290e8a47ae68ed_1_0_6", "data_file_path": 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the blue marker and place it next to the translucent blue soap bottle with pump", "object_name": "objamarkerpen_9ded8666275148929a57190ab939c735_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6303/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6391", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rough corroded circular metal ring and place it next to the square olive green plate", "object_name": "objametalring_8b9edce1030849c0b2101af955b65b02_1_0_9", "data_file_path": 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"task_description": "Pick up the small glossy turquoise eye of horus amulet and place it next to the dark laptop", "object_name": "objaamulet_7300d219ed944585ace4b2509bef4f6e_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6437/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6469", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the golden crescent moon pink wand and place it next to the laptop computer", "object_name": "objadecorativewand_587b79d19e94452b8c825603fcbe834a_1_0_7", "data_file_path": 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classic red plastic cup with ridges and place it next to the smooth white triangular wedge with texture", "object_name": "objaplasticcup_22798b1b718749608a0e729d576727a4_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6705/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6767", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the transparent soap bottle with dark pump and place it next to the shallow dark round cooking pan", "object_name": "soapdispenser_92169e2640439bd67fb105701482b508_1_0_2", "data_file_path": 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triangular wedge and place it next to the plate", "object_name": "objadecorativewedge_6c209105d3fe4d7db6a3520ceb255e96_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6903/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_6978", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black high-performance graphics card and place it next to the black metal scope mount with knob", "object_name": "objagraphicscard_fab5cfb1c5c143878bdfc9be2f3827bb_1_0_3", "data_file_path": 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"task_description": "Pick up the blue calendar with mountain design and place it next to the slim gold metallic phone", "object_name": "objawallcalendar_3a39ed927ca343fa905a99dfe9093d5a_2_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7083/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_7174", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black rectangular sunglasses and place it next to the mallet", "object_name": "objasunglasses_c8d8a11e50f74bd390b35e4868984474_1_0_7", "data_file_path": 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"task_description": "Pick up the glossy red bell pepper and place it next to the smooth green apple", "object_name": "objabellpepper_9e344338f741427aa5c5809e04b8a979_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_729/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_7346", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the tableware and place it next to the laptop computer", "object_name": "bowl_80746f55d05634985152668dea7876a0_1_0_4", "data_file_path": 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futuristic purple toy blaster with accents and place it next to the yellow striped airship", "object_name": "objatoyblaster_bd41ea9e538343b3a6f90b159a219d04_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7765/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_781", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the elongated metal finial with base and place it next to the brown poop emoji with smile", "object_name": "objafinial_4d7c210e36894fa489a2c4f2954531d9_1_0_3", "data_file_path": 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light rubber mallet with handle and place it next to the rugged gray rocky terrain with moss", "object_name": "objarubbermallet_f6f3eee2d418463bbab1abe93e274d60_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7970/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8056", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark telephone and place it next to the table lamp", "object_name": "objatelephone_6f17039417674bb7b44d5dd823cb1c72_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8056/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8125", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the colorful cube and place it next to the dark rectangular plaque with engraved text", "object_name": "objapuzzlecube_a330167eb4534097af6f386765b93f04_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8125/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8224", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black wireless ergonomic mouse and place it next to the gray bowl", "object_name": "objacomputermouse_2b70993763034bef8587d3730c7ca8ff_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8224/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8277", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the antique dark metal knocker with figure and place it next to the black grenade with purple panels", "object_name": "objadoorknocker_1186251805584e29b3fd39f83a54c8ae_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8277/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8386", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wooden gear and place it next to the gray bowl", "object_name": "objamechanicalmodel_dafd23d4b0c5400da70f6aaf5782457b_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8386/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8421", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the cylindrical dark nhl pencilcase and place it next to the small red barn model with windows", "object_name": "objapencilcase_07e5a1bc68f2433eb8fb3db3582ec3d9_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8421/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8421", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the crumpledpaper and place it next to the soap bottle", "object_name": "objacrumpledpaper_bab9b0a4a3194165be4ac939c565d39f_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8421/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8428", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the chisel with wooden handle and place it next to the purple rectangular shiny quilted pillow", "object_name": "objachisel_d40e8b39928a45d6a81eebe1c3149883_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8428/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8506", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the round brown bread loaf and place it next to the red glass vase", "object_name": "bread_41716c58b3d4c7691e7c0a1ca9c91854_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8506/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8627", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the spray bottle and place it next to the small stemmed red apple", "object_name": "atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8627/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_866", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wooden pestle with jagged top and place it next to the transparent soap bottle with pump", "object_name": "objapestle_668fa2b7443e423f8b0d252d82a3d100_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_866/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8701", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white rectangular electrical component and place it next to the digital clock", "object_name": "objaelectricalcomponent_aab3af6780ff4bb7a5ec47cb4046d811_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8701/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8795", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray metal rod with perforated top and place it next to the angular dark stealth aircraft with wings", "object_name": "objamountingfixture_c45afc98ee6c4081a0091f6cb3b0ee66_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8795/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8878", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the polished gold handbell and place it next to the invertebrate", "object_name": "objahandbell_44ac826f5fce46ff8fdcbdafd15d4258_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8878/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_8950", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the crumpled green nvidia package and place it next to the medium blue ceramic bowl with rim", "object_name": "objapackage_a509f13063c642f9aa2f5a15aafa7f4e_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8950/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9020", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the carton and place it next to the bronze statue of nude female", "object_name": "box_e7e029a9fdad1078011b9d2693eb5ef1_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9020/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9080", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the sleek curved metal bottle opener and place it next to the yellow spiky hair bust silhouette", "object_name": "objabottleopener_c64e41ddd1f84299b995b5fed1a3b43e_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9080/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9153", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the light wooden bridge with arches and place it next to the purple and yellow pixelated knife", "object_name": "objamodelbridge_02217be5148946099483fb93a7e9ab0a_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9153/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9228", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the pastry and place it next to the glossy brown goblet cup for beverages", "object_name": "objapastry_7fda2ce0924e4628be50bb75701ba41c_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9228/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_928", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wooden handle metal bell and place it next to the modern metal desk lamp", "object_name": "objahandbell_f020483b3c5949539fa4a3502fea05ad_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_928/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9305", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the traditional wooden rubber stamp with metal and place it next to the yellow realme box", "object_name": "objarubberstamp_57b6ce9f7f0244e2b691d33c1bbde4ad_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9305/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9420", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the tall vase with scalloped rim and place it next to the vintage wooden stamp handle", "object_name": "vase_167c6c1d7784abbddfcb5d35cfc28d28_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9420/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9494", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white space shuttle with red markings and place it next to the blue bolster pillow", "object_name": "objaspaceshuttlemodel_126c15b428494313a494c06822f2a756_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9494/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9541", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the pink wand with red sphere and place it next to the tall dark cup with ridges base", "object_name": "objadecorativewand_612582bc490a4353ba468a9839bf9119_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9541/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9632", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the transparent rectangular plastic storage container and place it next to the gray hardcover book with gold", "object_name": "objastoragecontainer_1d9ba0041c5c409d9823eef8e50dde9b_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9632/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9710", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the lavender soap bar with hole and emboss and place it next to the cream candle in blue holder", "object_name": "objasoap_bc2d6e60f6ac4eccb55eb9026925c617_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9710/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9821", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the pink rectangular popsicle on stick and place it next to the medium oval brown potato with texture", "object_name": "objapopsicle_d6caf34a19354df890e60be6786de20c_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9821/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_9940", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black cross medal and place it next to the light blue dolphin with prominent fins", "object_name": "objamedal_60d7eeb3f86343428d565e06d1e28703_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9940/trajectories_batch_1_of_1.h5", "metadata": {}} diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/submission/eval.log b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/submission/eval.log new file mode 100644 index 0000000000000000000000000000000000000000..ad578c5ca5c9c1e10cdcb9f33eeb00654af86cda --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/submission/eval.log @@ -0,0 +1,3712 @@ +[2026-05-26 19:43:51,412] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath'] +[2026-05-26 19:43:51,414] INFO Using MuJoCo EGL device id: 6 +[2026-05-26 19:43:51,414] INFO Using pre-set MUJOCO_GL backend: egl +[2026-05-26 19:43:51,444] INFO Using MolmoSpaces benchmark: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 (source=arg) +[2026-05-26 19:43:53,273] INFO No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +[nltk_data] Downloading package wordnet to /home/yuanpei/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /home/yuanpei/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +[2026-05-26 19:44:03,489] INFO ResourceManager (R2RemoteStorage('https://pub-3555e9bb2d304fab9c6c79819e48aa40.r2.dev')) using: + symlink_dir=/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets + cache_dir=/home/yuanpei/.cache/molmo-spaces-resources + force_install=True +/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py:129: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +[2026-05-26 19:48:10,279] INFO Requested MolmoSpaces simulator cameras: ['droid_shoulder_light_randomization', 'wrist_camera_zed_mini'] +[2026-05-26 19:48:10,279] INFO Using save_video_sensors=['__none__'] +[2026-05-26 19:48:15,710] INFO Resolved MolmoSpaces action semantics from checkpoint: source=pnp_next_to_v2 type=molmo_raw arm_action_key=joint_pos_rel gripper_action_key=joint_pos action_type=joint_pos_rel arm_command_mode=joint_rel_position +[2026-05-26 19:48:15,754] INFO Using explicit task_horizon override: 450 steps +[05/26 19:48:16 INFO pipeline.py:677] WandB logging disabled (environment variables not set) +[2026-05-26 19:48:16,183] INFO JsonEvalRunner initialized: 115 houses, 119 episodes from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/26 19:48:16 INFO pipeline.py:1279] Starting house-by-house rollout of 115 houses with 2 episodes each (230 total episodes) using 1 worker processes +[05/26 19:48:16 INFO pipeline.py:1286] Evaluation configuration: +[05/26 19:48:16 INFO pipeline.py:1287] {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['droid_shoulder_light_randomization', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 'wan_molmobot_franka', + 'obs_camera_name': 'droid_shoulder_light_randomization', + 'obs_image_key': 'rgb_head', + 'obs_state_key': 'robot_state', + 'obs_wrist_camera_name': 'wrist_camera_zed_mini', + 'obs_wrist_image_key': 'rgb_wrist', + 'policy_cls': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [573, + 621, + 683, + 729, + 781, + 866, + 928, + 1037, + 1165, + 1225, + 1320, + 1387, + 1502, + 1610, + 1729, + 1777, + 1902, + 1978, + 2039, + 2162, + 2266, + 2374, + 2475, + 2537, + 2678, + 2800, + 2873, + 2970, + 3062, + 3095, + 3208, + 3263, + 3300, + 3390, + 3450, + 3529, + 3635, + 3742, + 3790, + 3918, + 4041, + 4145, + 4216, + 4240, + 4291, + 4325, + 4400, + 4494, + 4622, + 4680, + 4716, + 4800, + 4872, + 4962, + 5067, + 5164, + 5203, + 5382, + 5459, + 5546, + 5612, + 5668, + 5773, + 5897, + 5928, + 6068, + 6143, + 6205, + 6269, + 6303, + 6391, + 6437, + 6469, + 6557, + 6705, + 6767, + 6903, + 6978, + 7015, + 7083, + 7174, + 7286, + 7346, + 7396, + 7453, + 7568, + 7668, + 7765, + 7856, + 7970, + 8056, + 8125, + 8224, + 8277, + 8386, + 8421, + 8428, + 8506, + 8627, + 8701, + 8795, + 8878, + 8950, + 9020, + 9080, + 9153, + 9228, + 9305, + 9420, + 9494, + 9541, + 9632, + 9710, + 9821, + 9940], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} +[2026-05-26 19:48:16,189] INFO Saved experiment configuration to /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815 +[05/26 19:48:16 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler +[05/26 19:48:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/26 19:48:16 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler +[05/26 19:48:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 573 (index 0/115) +[05/26 19:48:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 573 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/26 19:48:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +[05/26 19:48:36 Worker 0 WARNING object_manager.py:1238] Could not find object objaaerosolcan_b6b64dc8ae6049dbba19ae2cef3575bb_1_0_5 in scene +Goal: place cream ceramic sugar bowl with handle next to transparent soap bottle with pump +2026-05-26 19:48:37.003 | INFO | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0 +[2026-05-26 19:48:38,004] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k) +[2026-05-26 19:48:38,752] INFO [timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k] Safe alternative available for 'pytorch_model.bin' (as 'model.safetensors'). Loading weights using safetensors. +[2026-05-26 19:48:39,277] INFO Number of parameters in DiT: 1.821428e+07 +[2026-05-26 19:48:39,479] INFO Loaded generic psi-policy checkpoint | target=psi_policy.policy.psi_policy.PsiPolicy | obs_keys=['rgb_head', 'rgb_wrist', 'robot_state', 'text_context'] | action_horizon=16 | action_dim=8 +[2026-05-26 19:48:39,482] INFO Loaded MolmoSpaces policy | checkpoint=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt | target=psi_policy.policy.psi_policy.PsiPolicy | device=cuda:0 | action_chunk_size=8 +[05/26 20:03:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 573 episode 0 object objasugarbowl_9b683d621e1b4ca384050d16215b1f5b_1_0_2 completed with success=False +[05/26 20:03:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_573: 1 episodes +[05/26 20:03:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:03:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:03:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_573 +[05/26 20:03:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_573 in 2.69s (batch: 2.60s, save: 0.09s) +[05/26 20:03:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_573 +[05/26 20:03:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 573: 0/1 successful episodes +[05/26 20:03:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 621 (index 1/115) +[05/26 20:03:19 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 621 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/26 20:03:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +Goal: place white ceramic teacup with handle next to ornate bronze faucet with curve +[2026-05-26 20:04:29,881] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/huggingface_hub/file_download.py:945: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`. + warnings.warn( +[05/26 20:14:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 621 episode 0 object objateacup_027f9a512d2e49a582290e8a47ae68ed_1_0_6 completed with success=False +[05/26 20:14:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_621: 1 episodes +[05/26 20:14:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:14:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:14:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_621 +[05/26 20:14:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_621 in 2.36s (batch: 2.27s, save: 0.09s) +[05/26 20:14:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_621 +[05/26 20:14:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 621: 0/1 successful episodes +[05/26 20:14:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 683 (index 2/115) +[05/26 20:14:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 683 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/26 20:14:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/9 [00:00 does not support tracking retries. +Goal: place garlic next to green tool +[2026-05-26 20:15:24,294] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 20:15:54 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 20:21:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 683 episode 0 object objagarlic_4dd64ee00ff94f7488ff7793c74a8cdf_1_0_2 completed with success=False +[05/26 20:21:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_683: 1 episodes +[05/26 20:21:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:21:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:21:58 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_683 +[05/26 20:21:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_683 in 2.73s (batch: 2.65s, save: 0.09s) +[05/26 20:21:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_683 +[05/26 20:21:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 683: 0/1 successful episodes +[05/26 20:21:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 729 (index 3/115) +[05/26 20:21:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 729 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/26 20:21:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +[05/26 20:22:01 Worker 0 WARNING object_manager.py:1238] Could not find object objatoycamera_8eff73b71375445a8ba75949d58bd3e0_1_0_6 in scene +Goal: place glossy red bell pepper next to smooth green apple +[2026-05-26 20:23:04,089] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 20:23:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 20:32:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 729 episode 0 object objabellpepper_9e344338f741427aa5c5809e04b8a979_1_0_6 completed with success=False +[05/26 20:32:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_729: 1 episodes +[05/26 20:32:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:32:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:32:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_729 +[05/26 20:32:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_729 in 2.39s (batch: 2.30s, save: 0.09s) +[05/26 20:32:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_729 +[05/26 20:32:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 729: 0/1 successful episodes +[05/26 20:32:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 781 (index 4/115) +[05/26 20:32:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 781 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/26 20:32:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/62 [00:00 does not support tracking retries. +[05/26 20:33:17 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +Goal: place elongated metal finial with base next to brown poop emoji with smile +[2026-05-26 20:34:20,594] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 20:53:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 781 episode 0 object objafinial_4d7c210e36894fa489a2c4f2954531d9_1_0_3 completed with success=False +[05/26 20:53:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_781: 1 episodes +[05/26 20:53:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 20:53:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 20:53:58 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_781 +[05/26 20:53:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_781 in 2.81s (batch: 2.72s, save: 0.09s) +[05/26 20:53:59 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_781 +[05/26 20:53:59 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 781: 0/1 successful episodes +[05/26 20:53:59 Worker 0 INFO pipeline.py:473] Worker 0 starting house 866 (index 5/115) +[05/26 20:53:59 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 866 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/26 20:53:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/14 [00:00 does not support tracking retries. +Goal: place wooden pestle with jagged top next to transparent soap bottle with pump +[2026-05-26 20:55:01,542] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 20:55:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 21:02:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 866 episode 0 object objapestle_668fa2b7443e423f8b0d252d82a3d100_1_0_2 completed with success=False +[05/26 21:02:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_866: 1 episodes +[05/26 21:02:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:02:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:02:15 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_866 +[05/26 21:02:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_866 in 2.77s (batch: 2.68s, save: 0.09s) +[05/26 21:02:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_866 +[05/26 21:02:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 866: 0/1 successful episodes +[05/26 21:02:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 928 (index 6/115) +[05/26 21:02:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 928 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/26 21:02:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/60 [00:00 does not support tracking retries. +Goal: place wooden handle metal bell next to modern metal desk lamp +[2026-05-26 21:03:51,838] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:21:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 928 episode 0 object objahandbell_f020483b3c5949539fa4a3502fea05ad_1_0_6 completed with success=False +[05/26 21:21:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_928: 1 episodes +[05/26 21:21:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:21:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:21:26 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_928 +[05/26 21:21:26 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_928 in 2.34s (batch: 2.25s, save: 0.09s) +[05/26 21:21:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_928 +[05/26 21:21:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 928: 0/1 successful episodes +[05/26 21:21:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1037 (index 7/115) +[05/26 21:21:26 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1037 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/26 21:21:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +Goal: place metal stake next to brown and blue compact alarm clock +[2026-05-26 21:22:50,508] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:23:19 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 21:38:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 1037 episode 0 object objastake_b79cee771e604eec8845a1d74dbb417a_1_0_6 completed with success=False +[05/26 21:38:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1037: 1 episodes +[05/26 21:38:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:38:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:38:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1037 +[05/26 21:38:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1037 in 2.89s (batch: 2.80s, save: 0.09s) +[05/26 21:38:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1037 +[05/26 21:38:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1037: 0/1 successful episodes +[05/26 21:38:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1165 (index 8/115) +[05/26 21:38:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1165 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/26 21:38:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/26 21:38:45 Worker 0 WARNING object_manager.py:1238] Could not find object bowl_be7868e9f68042e57983c0b0aeec19df_1_0_7 in scene +Goal: place gray roller assembly with black frame next to green tree +[2026-05-26 21:39:47,354] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 21:40:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 21:53:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 1165 episode 0 object objarollerassembly_974c0781de924642a00b6c3e1c56462b_1_0_3 completed with success=False +[05/26 21:53:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1165: 1 episodes +[05/26 21:53:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 21:53:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 21:53:47 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1165 +[05/26 21:53:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1165 in 2.90s (batch: 2.81s, save: 0.10s) +[05/26 21:53:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1165 +[05/26 21:53:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1165: 0/1 successful episodes +[05/26 21:53:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1225 (index 9/115) +[05/26 21:53:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1225 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/26 21:53:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +[05/26 21:54:31 Worker 0 WARNING object_manager.py:1238] Could not find object objadentures_46145e0221e94a3185b215c07d0f4340_1_0_9 in scene +[05/26 21:54:31 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_3_0_9 in scene +Goal: place garlic next to chocolate nut ice cream +[2026-05-26 21:55:34,777] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:12:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 1225 episode 0 object objagarlic_4dd64ee00ff94f7488ff7793c74a8cdf_1_0_2 completed with success=False +[05/26 22:12:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1225: 1 episodes +[05/26 22:12:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:12:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:12:58 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1225 +[05/26 22:12:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1225 in 2.50s (batch: 2.41s, save: 0.09s) +[05/26 22:12:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1225 +[05/26 22:12:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1225: 0/1 successful episodes +[05/26 22:12:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1320 (index 10/115) +[05/26 22:12:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1320 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/26 22:12:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/53 [00:00 does not support tracking retries. +Goal: place brown medium potato next to green cup with flared rim +[2026-05-26 22:14:51,477] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:15:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 22:33:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 1320 episode 0 object Irishpotato_4ccdc5ebde4d6fee07ff9eefb0b60cfb_1_0_2 completed with success=False +[05/26 22:33:50 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1320: 1 episodes +[05/26 22:33:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:33:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:33:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1320 +[05/26 22:33:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1320 in 2.85s (batch: 2.76s, save: 0.09s) +[05/26 22:33:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1320 +[05/26 22:33:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1320: 0/1 successful episodes +[05/26 22:33:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1387 (index 11/115) +[05/26 22:33:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1387 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/26 22:33:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +Goal: place handheld tool next to bulbous shiny gold vase +[2026-05-26 22:35:28,023] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:52:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 1387 episode 0 object objahandheldtool_73568d0c5842467b973426acd033a47d_1_0_7 completed with success=False +[05/26 22:52:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1387: 1 episodes +[05/26 22:52:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 22:52:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 22:52:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1387 +[05/26 22:52:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1387 in 2.84s (batch: 2.74s, save: 0.09s) +[05/26 22:52:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1387 +[05/26 22:52:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1387: 0/1 successful episodes +[05/26 22:52:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1502 (index 12/115) +[05/26 22:52:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1502 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/26 22:52:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +Goal: place long slender dark stick next to white molding with flowers +[2026-05-26 22:54:05,342] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 22:54:39 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 23:04:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 1502 episode 0 object objadecorativestick_bfc1cb3341914d5aa3f6633ef58b4106_1_0_6 completed with success=False +[05/26 23:04:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1502: 1 episodes +[05/26 23:04:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:04:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:04:47 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1502 +[05/26 23:04:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1502 in 2.30s (batch: 2.21s, save: 0.09s) +[05/26 23:04:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1502 +[05/26 23:04:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1502: 0/1 successful episodes +[05/26 23:04:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1610 (index 13/115) +[05/26 23:04:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1610 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/26 23:04:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +Goal: place vintage metal calendar next to black submarine +[2026-05-26 23:06:25,383] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:13:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 1610 episode 0 object objadeskcalendar_c0ddec650d304adbb5d6730f43205dda_1_0_3 completed with success=False +[05/26 23:13:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1610: 1 episodes +[05/26 23:13:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:13:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:13:39 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1610 +[05/26 23:13:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1610 in 2.32s (batch: 2.23s, save: 0.09s) +[05/26 23:13:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1610 +[05/26 23:13:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1610: 0/1 successful episodes +[05/26 23:13:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1729 (index 14/115) +[05/26 23:13:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1729 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/26 23:13:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +Goal: place sleek metallic juicer with legs next to soap bottle +[2026-05-26 23:14:46,007] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:15:23 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 23:25:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 1729 episode 0 object objajuicer_781344ece32d4692affe82c5474c0b75_1_0_6 completed with success=False +[05/26 23:25:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1729: 1 episodes +[05/26 23:25:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:25:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:25:54 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1729 +[05/26 23:25:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1729 in 2.29s (batch: 2.20s, save: 0.09s) +[05/26 23:25:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1729 +[05/26 23:25:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1729: 0/1 successful episodes +[05/26 23:25:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1777 (index 15/115) +[05/26 23:25:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1777 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/26 23:25:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +Goal: place moka pot next to glossy translucent cup with flared top +[2026-05-26 23:27:10,075] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:27:42 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 23:42:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 1777 episode 0 object objamokapot_8d83a1f7c94045b38e5c62fc4feecb0b_1_0_2 completed with success=False +[05/26 23:42:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1777: 1 episodes +[05/26 23:42:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:42:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:42:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1777 +[05/26 23:42:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1777 in 3.01s (batch: 2.92s, save: 0.09s) +[05/26 23:42:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1777 +[05/26 23:42:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1777: 0/1 successful episodes +[05/26 23:42:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1902 (index 16/115) +[05/26 23:42:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1902 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/26 23:42:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +Goal: place tangled wire sphere next to glossy black dog statue sitting +[2026-05-26 23:45:05,744] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 23:59:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 1902 episode 0 object objawiresculpture_12c19793bbfa432ebbb8c920f01ac72d_2_0_3 completed with success=False +[05/26 23:59:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1902: 1 episodes +[05/26 23:59:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 23:59:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 23:59:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1902 +[05/26 23:59:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1902 in 2.80s (batch: 2.71s, save: 0.09s) +[05/26 23:59:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1902 +[05/26 23:59:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1902: 0/1 successful episodes +[05/26 23:59:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1978 (index 17/115) +[05/26 23:59:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1978 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/26 23:59:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/58 [00:00 does not support tracking retries. +[05/27 00:02:45 Worker 0 WARNING object_manager.py:1238] Could not find object objajewelry_5d13ef83fc9f496fb99b97e4f0e5e610_2_0_9 in scene +[05/27 00:02:45 Worker 0 WARNING object_manager.py:1238] Could not find object objalantern_9d65ca34fa3d432b9372c9cdb60a9a00_1_0_9 in scene +Goal: place flat brown h-shaped rectangular piece next to conical soap bottle with pump +[2026-05-27 00:03:47,776] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:04:23 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:23:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 1978 episode 0 object objacomponent_5ca9a2c89480421592cd65b82d2a028b_1_0_2 completed with success=False +[05/27 00:23:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1978: 1 episodes +[05/27 00:23:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:23:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:23:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1978 +[05/27 00:23:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1978 in 2.32s (batch: 2.23s, save: 0.09s) +[05/27 00:23:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1978 +[05/27 00:23:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1978: 0/1 successful episodes +[05/27 00:23:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2039 (index 18/115) +[05/27 00:23:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2039 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 00:23:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +Goal: place wooden stake topped with red gem next to bulbous shiny gold metallic vase +[2026-05-27 00:25:11,580] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:25:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:37:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 2039 episode 0 object objadecorativestake_f7da54612fcd4df18fc7db6392979318_1_0_4 completed with success=False +[05/27 00:37:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2039: 1 episodes +[05/27 00:37:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:37:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:37:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2039 +[05/27 00:37:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2039 in 2.80s (batch: 2.71s, save: 0.09s) +[05/27 00:37:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2039 +[05/27 00:37:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2039: 0/1 successful episodes +[05/27 00:37:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2162 (index 19/115) +[05/27 00:37:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2162 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 00:37:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +[05/27 00:37:16 Worker 0 WARNING object_manager.py:1238] Could not find object pencil_2c624e64d6f8a208a3a089ad77d16aa1_1_0_4 in scene +[05/27 00:37:16 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingpanel_a3d6f7df9ff94ed59f95d5086d5f3fdd_1_0_7 in scene +Goal: place blue hammer with orange handle next to murphy +[2026-05-27 00:38:19,111] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:38:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:50:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 2162 episode 0 object objahandtool_ed6973497d074fd6969fd06f52e8da04_1_0_6 completed with success=False +[05/27 00:50:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2162: 1 episodes +[05/27 00:50:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:50:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:50:12 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2162 +[05/27 00:50:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2162 in 2.31s (batch: 2.22s, save: 0.09s) +[05/27 00:50:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2162 +[05/27 00:50:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2162: 0/1 successful episodes +[05/27 00:50:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2266 (index 20/115) +[05/27 00:50:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2266 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 00:50:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/7 [00:00 does not support tracking retries. +Goal: place glossy green cup next to glossy round bowl +[2026-05-27 00:51:21,048] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 00:51:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 00:57:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 2266 episode 0 object cup_8d9428c0be7f5e5aef31cf7e5152e057_1_0_2 completed with success=False +[05/27 00:57:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2266: 1 episodes +[05/27 00:57:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 00:57:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 00:57:58 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2266 +[05/27 00:57:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2266 in 2.76s (batch: 2.68s, save: 0.09s) +[05/27 00:57:59 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2266 +[05/27 00:57:59 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2266: 0/1 successful episodes +[05/27 00:57:59 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2374 (index 21/115) +[05/27 00:57:59 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2374 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 00:57:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +Goal: place dark spiked mace next to round brown bread +[2026-05-27 00:59:09,263] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:16:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 2374 episode 0 object objamace_8bf2eabaaf7f4ee09641ae6fec234644_1_0_2 completed with success=False +[05/27 01:16:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2374: 1 episodes +[05/27 01:16:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:16:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:16:47 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2374 +[05/27 01:16:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2374 in 2.81s (batch: 2.72s, save: 0.09s) +[05/27 01:16:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2374 +[05/27 01:16:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2374: 0/1 successful episodes +[05/27 01:16:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2475 (index 22/115) +[05/27 01:16:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2475 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 01:16:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +Goal: place polygon next to terracotta molding +[2026-05-27 01:17:53,851] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:18:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 01:27:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 2475 episode 0 object objadecorativewedge_6c209105d3fe4d7db6a3520ceb255e96_1_0_6 completed with success=False +[05/27 01:27:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2475: 1 episodes +[05/27 01:27:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:27:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:27:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2475 +[05/27 01:27:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2475 in 2.34s (batch: 2.25s, save: 0.09s) +[05/27 01:27:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2475 +[05/27 01:27:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2475: 0/1 successful episodes +[05/27 01:27:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2537 (index 23/115) +[05/27 01:27:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2537 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 01:27:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +[05/27 01:27:18 Worker 0 WARNING object_manager.py:1238] Could not find object objawasher_5b84965c8c494251b103c5b9e8d5692a_1_0_5 in scene +[05/27 01:27:18 Worker 0 WARNING object_manager.py:1238] Could not find object objaaerosolcan_b6b64dc8ae6049dbba19ae2cef3575bb_1_0_5 in scene +[05/27 01:27:18 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_9 in scene +Goal: place burnt white candle next to colorful puzzle cube +[2026-05-27 01:28:22,318] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:28:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 01:39:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 2537 episode 0 object objacandle_464b8c40369549e98243c274e894bd4b_1_0_9 completed with success=False +[05/27 01:39:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2537: 1 episodes +[05/27 01:39:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:40:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:40:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2537 +[05/27 01:40:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2537 in 2.80s (batch: 2.71s, save: 0.09s) +[05/27 01:40:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2537 +[05/27 01:40:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2537: 0/1 successful episodes +[05/27 01:40:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2678 (index 24/115) +[05/27 01:40:02 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2678 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 01:40:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/44 [00:00 does not support tracking retries. +Goal: place vintage black camera with lens next to polished silver-gray metal vase +[2026-05-27 01:41:11,011] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:56:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 2678 episode 0 object objacamera_6e9951dd41be4ae5b98a3e1857b94671_1_0_7 completed with success=False +[05/27 01:56:35 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2678: 1 episodes +[05/27 01:56:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 01:56:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 01:56:38 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2678 +[05/27 01:56:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2678 in 2.76s (batch: 2.67s, save: 0.09s) +[05/27 01:56:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2678 +[05/27 01:56:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2678: 0/1 successful episodes +[05/27 01:56:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2800 (index 25/115) +[05/27 01:56:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2800 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 01:56:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +Goal: place jagged white marble piece with veins next to soapdispenser +[2026-05-27 01:58:09,984] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 01:58:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 02:05:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 2800 episode 0 object objamarblesculpture_969d17f91b324a6c9e0b1d1f649a1463_1_0_6 completed with success=False +[05/27 02:05:58 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2800: 1 episodes +[05/27 02:05:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:06:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:06:01 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2800 +[05/27 02:06:01 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2800 in 2.89s (batch: 2.80s, save: 0.09s) +[05/27 02:06:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2800 +[05/27 02:06:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2800: 0/1 successful episodes +[05/27 02:06:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2873 (index 26/115) +[05/27 02:06:02 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2873 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 02:06:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +Goal: place brown animal statuette next to radio link +[2026-05-27 02:07:38,680] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:08:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 02:19:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 2873 episode 0 object objastatuette_c02a6cb0ecd141669ce2dfed1e31a126_1_0_4 completed with success=False +[05/27 02:19:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2873: 1 episodes +[05/27 02:19:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:19:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:19:48 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2873 +[05/27 02:19:48 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2873 in 2.30s (batch: 2.21s, save: 0.09s) +[05/27 02:19:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2873 +[05/27 02:19:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2873: 0/1 successful episodes +[05/27 02:19:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2970 (index 27/115) +[05/27 02:19:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 2970 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 02:19:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/44 [00:00 does not support tracking retries. +[05/27 02:19:53 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_5 in scene +[05/27 02:19:53 Worker 0 WARNING object_manager.py:1238] Could not find object objafaceplate_521c117e4216443f9cb116f01483a230_1_0_7 in scene +[05/27 02:19:53 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_083eb9b9eb564701820d3a79377c77ce_1_0_7 in scene +Goal: place fantasy hammer next to olive scalloped ceramic plate +[2026-05-27 02:20:56,564] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:21:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 02:34:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 2970 episode 0 object objafantasyhammer_ee13a88b5c134317b0b1da1d14403ddd_1_0_8 completed with success=False +[05/27 02:34:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2970: 1 episodes +[05/27 02:34:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 02:34:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 02:34:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2970 +[05/27 02:34:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2970 in 2.45s (batch: 2.36s, save: 0.09s) +[05/27 02:34:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2970 +[05/27 02:34:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2970: 0/1 successful episodes +[05/27 02:34:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3062 (index 28/115) +[05/27 02:34:35 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 3062 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 02:34:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +[05/27 02:34:41 Worker 0 WARNING object_manager.py:1238] Could not find object objaadhesivetape_55b9776915594b80a4b1a1a8c20dcdb6_1_0_8 in scene +[05/27 02:34:41 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_116f2e48d98aa5352b25743c587e8255_1_0_8 in scene +Goal: place sportsshoe next to red lighthouse +[2026-05-27 02:35:44,395] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:52:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 3062 episode 0 object objasportsshoe_6b4506025d2e4c38bf943c377e53a82b_1_0_5 completed with success=False +[05/27 02:52:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +[05/27 02:52:20 Worker 0 WARNING object_manager.py:1238] Could not find object objaadhesivetape_55b9776915594b80a4b1a1a8c20dcdb6_1_0_8 in scene +[05/27 02:52:20 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_116f2e48d98aa5352b25743c587e8255_1_0_8 in scene +Goal: place munition next to rustic wooden corbel support +[2026-05-27 02:53:22,893] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 02:53:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 03:09:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 3062 episode 1 object objaexplosivedevice_6d333be39e454b458d48ad86f8a78df4_1_0_4 completed with success=False +[05/27 03:09:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3062: 2 episodes +[05/27 03:09:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:09:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:09:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:09:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:09:46 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3062 +[05/27 03:09:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3062 in 5.68s (batch: 5.50s, save: 0.17s) +[05/27 03:09:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3062 +[05/27 03:09:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3062: 0/2 successful episodes +[05/27 03:09:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3095 (index 29/115) +[05/27 03:09:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3095 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 03:09:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +Goal: place worn vintage gameboy console next to blue book +[2026-05-27 03:10:58,789] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:11:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 03:19:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 3095 episode 0 object objahandheldgameconsole_021b1586089044278164dadc584abb89_1_0_7 completed with success=False +[05/27 03:19:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3095: 1 episodes +[05/27 03:19:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:19:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:19:27 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3095 +[05/27 03:19:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3095 in 2.72s (batch: 2.63s, save: 0.09s) +[05/27 03:19:28 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3095 +[05/27 03:19:28 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3095: 0/1 successful episodes +[05/27 03:19:28 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3208 (index 30/115) +[05/27 03:19:28 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3208 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 03:19:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/27 [00:00 does not support tracking retries. +Goal: place long colorful strip with texture next to ornate silver and gold gavel +[2026-05-27 03:20:37,771] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:21:12 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 03:31:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 3208 episode 0 object objadecorativetrim_f8312d4b1883445ea7fd521a4504fde3_1_0_7 completed with success=False +[05/27 03:31:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3208: 1 episodes +[05/27 03:31:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:31:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:31:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3208 +[05/27 03:31:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3208 in 2.77s (batch: 2.68s, save: 0.09s) +[05/27 03:31:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3208 +[05/27 03:31:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3208: 0/1 successful episodes +[05/27 03:31:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3263 (index 31/115) +[05/27 03:31:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3263 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 03:31:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/53 [00:00 does not support tracking retries. +Goal: place vintage metallic camera with floral engravings next to oval brown potato +[2026-05-27 03:32:35,231] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 03:33:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 03:42:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 3263 episode 0 object objacamera_966235cef3f34f40aa8bd19063c6c411_1_0_2 completed with success=False +[05/27 03:42:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3263: 1 episodes +[05/27 03:42:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 03:42:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 03:42:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3263 +[05/27 03:42:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3263 in 2.78s (batch: 2.69s, save: 0.09s) +[05/27 03:42:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3263 +[05/27 03:42:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3263: 0/1 successful episodes +[05/27 03:42:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3300 (index 32/115) +[05/27 03:42:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3300 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 03:42:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/56 [00:00 +[05/27 03:42:55 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/27 03:42:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/27 03:42:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' +[05/27 03:42:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' +[05/27 03:42:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/27 03:42:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the open brown cardboard box packaging and place it next to the vintage blue twin-bell alarm clock' +[05/27 03:42:55 Worker 0 INFO pipeline.py:1050] Worker 0 house 3300 episode 0/1 collected=0/2 +[05/27 03:42:55 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +Goal: place open brown cardboard box packaging next to vintage blue twin-bell alarm clock +[2026-05-27 03:43:59,138] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:05:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 3300 episode 0 object box_5358700257a2427d72759d135597dc51_1_0_7 completed with success=False +[05/27 04:05:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3300: 1 episodes +[05/27 04:05:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:05:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:05:07 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3300 +[05/27 04:05:07 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3300 in 2.29s (batch: 2.20s, save: 0.09s) +[05/27 04:05:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3300 +[05/27 04:05:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3300: 0/1 successful episodes +[05/27 04:05:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3390 (index 33/115) +[05/27 04:05:07 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3390 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 04:05:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +[05/27 04:05:12 Worker 0 WARNING object_manager.py:1238] Could not find object objaearring_4e81a083ae304ff4a9fe0cf50a3afd50_1_0_8 in scene +Goal: place white rectangular electrical connector next to blue soap bottle with golden pump +[2026-05-27 04:06:15,822] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:06:54 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:12:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 3390 episode 0 object objaelectricalconnector_dbdf5d0c07ab4d7ca8814ef57c537dd9_1_0_8 completed with success=False +[05/27 04:12:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3390: 1 episodes +[05/27 04:12:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:12:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:12:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3390 +[05/27 04:12:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3390 in 2.90s (batch: 2.79s, save: 0.11s) +[05/27 04:12:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3390 +[05/27 04:12:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3390: 0/1 successful episodes +[05/27 04:12:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3450 (index 34/115) +[05/27 04:12:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3450 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 04:12:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/13 [00:00 does not support tracking retries. +Goal: place yellow kitchen knife with blade next to soapdispenser +[2026-05-27 04:13:25,373] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:13:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:21:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 3450 episode 0 object knife_7db4ef03593a98cc5b883c623dde8d9f_1_0_2 completed with success=False +[05/27 04:21:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3450: 1 episodes +[05/27 04:21:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:21:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:21:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3450 +[05/27 04:21:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3450 in 2.82s (batch: 2.73s, save: 0.09s) +[05/27 04:21:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3450 +[05/27 04:21:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3450: 0/1 successful episodes +[05/27 04:21:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3529 (index 35/115) +[05/27 04:21:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3529 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 04:21:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +Goal: place dark metal frying pan next to bulbous shiny gold metallic vase +[2026-05-27 04:22:33,085] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:23:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 04:37:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 3529 episode 0 object cookingpan_7d858738a424e980049e4c1d86d8d3a5_1_0_2 completed with success=False +[05/27 04:38:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3529: 1 episodes +[05/27 04:38:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:38:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:38:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3529 +[05/27 04:38:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3529 in 2.69s (batch: 2.60s, save: 0.09s) +[05/27 04:38:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3529 +[05/27 04:38:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3529: 0/1 successful episodes +[05/27 04:38:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3635 (index 36/115) +[05/27 04:38:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3635 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 04:38:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/59 [00:00 does not support tracking retries. +[05/27 04:38:15 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativelighthouse_e8bb24878c544adcb484f431f4c9790e_1_0_5 in scene +[05/27 04:38:15 Worker 0 WARNING object_manager.py:1238] Could not find object objawasher_43e7ebcba34645448a997c3d03054d33_1_0_5 in scene +[05/27 04:38:15 Worker 0 WARNING object_manager.py:1238] Could not find object objamodeltower_f5b9396794dc4bc7882aeb32a400da98_1_0_9 in scene +[05/27 04:38:15 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_9 in scene +Goal: place metal clamp with orange grips next to gray bird +[2026-05-27 04:39:18,189] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:58:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 3635 episode 0 object objaspringclamp_a548ac5c9d014c83afed99f47f0eb118_1_0_3 completed with success=False +[05/27 04:58:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3635: 1 episodes +[05/27 04:58:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 04:58:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 04:58:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3635 +[05/27 04:58:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3635 in 2.76s (batch: 2.67s, save: 0.09s) +[05/27 04:58:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3635 +[05/27 04:58:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3635: 0/1 successful episodes +[05/27 04:58:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3742 (index 37/115) +[05/27 04:58:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3742 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 04:58:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +Goal: place blue handheld device with cylindrical barrel next to green lettuce +[2026-05-27 04:59:19,544] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 04:59:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 05:07:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 3742 episode 0 object objatool_7fbf9a210de74910b0ab4bbe740fce1c_1_0_6 completed with success=False +[05/27 05:07:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3742: 1 episodes +[05/27 05:07:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:07:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:07:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3742 +[05/27 05:07:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3742 in 2.40s (batch: 2.31s, save: 0.09s) +[05/27 05:07:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3742 +[05/27 05:07:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3742: 0/1 successful episodes +[05/27 05:07:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3790 (index 38/115) +[05/27 05:07:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3790 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 05:07:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[05/27 05:07:23 Worker 0 WARNING object_manager.py:1238] Could not find object objanoveltyaxe_fdade657c4cc47ad96cf428fc10b3120_1_0_6 in scene +[05/27 05:07:23 Worker 0 WARNING object_manager.py:1238] Could not find object bowl_8f6844832379a39c0316319c38fb1803_1_0_6 in scene +Goal: place realistic detailed ivory skull next to tall dark gray decorative pillow +[2026-05-27 05:08:27,046] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:09:03 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 05:16:02 Worker 0 INFO pipeline.py:1114] Worker 0 house 3790 episode 0 object objaskullmodel_3550b1feb37745b6a6dbec510ccb740b_1_0_4 completed with success=False +[05/27 05:16:06 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3790: 1 episodes +[05/27 05:16:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:16:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:16:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3790 +[05/27 05:16:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3790 in 2.84s (batch: 2.75s, save: 0.09s) +[05/27 05:16:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3790 +[05/27 05:16:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3790: 0/1 successful episodes +[05/27 05:16:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3918 (index 39/115) +[05/27 05:16:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3918 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 05:16:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/27 05:16:13 Worker 0 WARNING object_manager.py:1238] Could not find object objasponge_f21d15e2964648989a80c23bfa0b932c_1_0_5 in scene +[05/27 05:16:13 Worker 0 WARNING object_manager.py:1238] Could not find object objaspraycan_f761c777f54e414dba0b54dbab6453c7_1_0_5 in scene +Goal: place candle next to dark green matte suppressor device +[2026-05-27 05:17:16,590] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:29:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 3918 episode 0 object candle_ef48126e155d4ed0804b46d4b3a42ca2_1_0_9 completed with success=False +[05/27 05:29:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3918: 1 episodes +[05/27 05:29:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:29:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:29:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3918 +[05/27 05:29:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3918 in 2.77s (batch: 2.68s, save: 0.09s) +[05/27 05:29:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3918 +[05/27 05:29:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3918: 0/1 successful episodes +[05/27 05:29:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4041 (index 40/115) +[05/27 05:29:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4041 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 05:29:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/17 [00:00 does not support tracking retries. +[05/27 05:29:45 Worker 0 WARNING object_manager.py:1238] Could not find object apple_523cec3bd66eec1b41ffd2506874d275_1_0_2 in scene +Goal: place yellow kitchen knife with sharp blade next to human hand +[2026-05-27 05:30:48,956] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:31:25 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 05:38:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 4041 episode 0 object knife_0bc93f198121d33ac4030a34bfc944a4_1_0_2 completed with success=False +[05/27 05:38:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4041: 1 episodes +[05/27 05:38:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:38:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:38:08 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4041 +[05/27 05:38:08 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4041 in 2.76s (batch: 2.67s, save: 0.09s) +[05/27 05:38:08 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4041 +[05/27 05:38:08 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4041: 0/1 successful episodes +[05/27 05:38:08 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4145 (index 41/115) +[05/27 05:38:08 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4145 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 05:38:08 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/14 [00:00 does not support tracking retries. +Goal: place blue vhs with horror design next to clear glass martini cup +[2026-05-27 05:39:17,063] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:39:49 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 05:46:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 4145 episode 0 object objavhstape_dc3c4b3cc513486b87a9d5f7d344d132_1_0_2 completed with success=False +[05/27 05:46:04 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4145: 1 episodes +[05/27 05:46:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:46:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:46:07 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4145 +[05/27 05:46:07 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4145 in 2.76s (batch: 2.67s, save: 0.09s) +[05/27 05:46:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4145 +[05/27 05:46:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4145: 0/1 successful episodes +[05/27 05:46:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4216 (index 42/115) +[05/27 05:46:07 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4216 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 05:46:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +Goal: place brown gourd seedpod next to wooden trophy with pink white emblem +[2026-05-27 05:47:28,928] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 05:48:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 05:55:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 4216 episode 0 object objagourd_ecf826d7f2ba4486b7841f0536b72a4a_1_0_2 completed with success=False +[05/27 05:55:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4216: 1 episodes +[05/27 05:55:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 05:55:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 05:55:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4216 +[05/27 05:55:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4216 in 2.80s (batch: 2.71s, save: 0.09s) +[05/27 05:55:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4216 +[05/27 05:55:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4216: 0/1 successful episodes +[05/27 05:55:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4240 (index 43/115) +[05/27 05:55:45 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4240 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 05:55:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/53 [00:00 does not support tracking retries. +[05/27 05:55:50 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativesign_4550080e417a4e118eff3979d3b62874_1_0_7 in scene +Goal: place black ribbed plastic cap next to purple rectangular shiny quilted pillow +[2026-05-27 05:56:54,455] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:12:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 4240 episode 0 object objacap_3a40810c85cd4576af04b66e5a18e6a0_1_0_8 completed with success=False +[05/27 06:12:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/53 [00:00 does not support tracking retries. +[05/27 06:12:51 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativesign_4550080e417a4e118eff3979d3b62874_1_0_7 in scene +Goal: place green and yellow sponge next to tall transparent cup +[2026-05-27 06:13:54,885] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:14:32 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 06:29:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 4240 episode 1 object objacleaningsponge_97aee64edf0c4521b82416f3b30c61ce_1_0_2 completed with success=False +[05/27 06:29:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4240: 2 episodes +[05/27 06:29:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:29:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:29:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:29:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:29:21 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4240 +[05/27 06:29:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4240 in 5.45s (batch: 5.29s, save: 0.17s) +[05/27 06:29:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4240 +[05/27 06:29:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4240: 0/2 successful episodes +[05/27 06:29:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4291 (index 44/115) +[05/27 06:29:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4291 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 06:29:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/6 [00:00 does not support tracking retries. +Goal: place gunsuppressor next to modern black toaster with metallic ridges +[2026-05-27 06:30:30,477] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:31:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 06:36:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 4291 episode 0 object objagunsuppressor_9616f6013c204a49a9d90758f8e83faf_1_0_2 completed with success=False +[05/27 06:36:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4291: 1 episodes +[05/27 06:36:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:36:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:36:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4291 +[05/27 06:36:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4291 in 2.82s (batch: 2.73s, save: 0.09s) +[05/27 06:36:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4291 +[05/27 06:36:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4291: 0/1 successful episodes +[05/27 06:36:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4325 (index 45/115) +[05/27 06:36:19 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4325 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 06:36:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/18 [00:00 does not support tracking retries. +Goal: place matte gray wraparound safety glasses next to bulbous shiny gold metallic vase +[2026-05-27 06:37:23,594] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:37:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 06:46:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 4325 episode 0 object objasafetyglasses_7e6a9db3e19a4cc2b49bcea5fef1d7bb_1_0_2 completed with success=False +[05/27 06:46:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4325: 1 episodes +[05/27 06:46:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:46:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:46:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4325 +[05/27 06:46:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4325 in 2.36s (batch: 2.26s, save: 0.09s) +[05/27 06:46:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4325 +[05/27 06:46:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4325: 0/1 successful episodes +[05/27 06:46:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4400 (index 46/115) +[05/27 06:46:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4400 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 06:46:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/13 [00:00 does not support tracking retries. +Goal: place gray hourglass-shaped cup next to glossy green cup +[2026-05-27 06:47:15,407] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:47:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 06:55:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 4400 episode 0 object cup_03f875ba63b7adc57ed0b350736f7167_1_0_2 completed with success=False +[05/27 06:55:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4400: 1 episodes +[05/27 06:55:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 06:55:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 06:55:28 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4400 +[05/27 06:55:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4400 in 2.39s (batch: 2.30s, save: 0.09s) +[05/27 06:55:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4400 +[05/27 06:55:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4400: 0/1 successful episodes +[05/27 06:55:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4494 (index 47/115) +[05/27 06:55:29 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4494 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 06:55:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +[05/27 06:55:33 Worker 0 WARNING object_manager.py:1238] Could not find object vase_485850bef5e28630dd1156aaec2e3528_1_0_5 in scene +Goal: place movie camera next to dark statue +[2026-05-27 06:56:36,264] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 06:57:08 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 07:10:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 4494 episode 0 object objamoviecamera_64bd72851ef349ef9cd24403df1789ad_1_0_2 completed with success=False +[05/27 07:10:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4494: 1 episodes +[05/27 07:10:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:10:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:10:27 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4494 +[05/27 07:10:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4494 in 2.37s (batch: 2.28s, save: 0.09s) +[05/27 07:10:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4494 +[05/27 07:10:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4494: 0/1 successful episodes +[05/27 07:10:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4622 (index 48/115) +[05/27 07:10:27 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4622 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 07:10:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/27 07:10:38 Worker 0 WARNING object_manager.py:1238] Could not find object objaornatebook_b14f9bd1248c4501a0c30e27d3561207_1_0_4 in scene +[05/27 07:10:38 Worker 0 WARNING object_manager.py:1238] Could not find object laptop_02864bed4cf19e35d7f7f9b34005b51f_1_0_4 in scene +[05/27 07:10:38 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_4 in scene +[05/27 07:10:38 Worker 0 WARNING object_manager.py:1238] Could not find object objabrush_1c94b10f01654a0c928acbccf0db141e_1_0_5 in scene +Goal: place red pin next to red white striped lighthouse with roof +[2026-05-27 07:11:40,953] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:12:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 07:27:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 4622 episode 0 object objamarker_c94bb25528ca4d3288cd278be03479ad_1_0_7 completed with success=False +[05/27 07:27:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4622: 1 episodes +[05/27 07:27:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:27:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:27:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4622 +[05/27 07:27:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4622 in 3.00s (batch: 2.90s, save: 0.09s) +[05/27 07:27:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4622 +[05/27 07:27:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4622: 0/1 successful episodes +[05/27 07:27:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4680 (index 49/115) +[05/27 07:27:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4680 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 07:27:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +Goal: place round rustic goblet next to blow drier +[2026-05-27 07:28:45,321] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:29:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 07:36:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 4680 episode 0 object objagoblet_eca84b5c63d243e0b7b13b703875d869_1_0_2 completed with success=False +[05/27 07:36:46 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4680: 1 episodes +[05/27 07:36:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:36:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:36:49 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4680 +[05/27 07:36:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4680 in 2.83s (batch: 2.73s, save: 0.09s) +[05/27 07:36:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4680 +[05/27 07:36:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4680: 0/1 successful episodes +[05/27 07:36:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4716 (index 50/115) +[05/27 07:36:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4716 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 07:36:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[05/27 07:37:00 Worker 0 WARNING object_manager.py:1238] Could not find object objasponge_fc6f343e05344c49baa810fb280e9dcb_1_0_5 in scene +Goal: place red pin next to small beige clay tablet with engravings +[2026-05-27 07:38:03,617] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:52:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 4716 episode 0 object objamarker_c94bb25528ca4d3288cd278be03479ad_1_0_7 completed with success=False +[05/27 07:52:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4716: 1 episodes +[05/27 07:52:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 07:52:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 07:52:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4716 +[05/27 07:52:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4716 in 2.77s (batch: 2.68s, save: 0.09s) +[05/27 07:52:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4716 +[05/27 07:52:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4716: 0/1 successful episodes +[05/27 07:52:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4800 (index 51/115) +[05/27 07:52:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4800 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 07:52:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/26 [00:00 does not support tracking retries. +Goal: place red bell pepper with stem next to smokingpipe +[2026-05-27 07:53:20,382] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 07:53:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 08:03:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 4800 episode 0 object objavegetable_d8d6bb178d07401aa9c94faab14e0b4f_1_0_6 completed with success=False +[05/27 08:03:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4800: 1 episodes +[05/27 08:03:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:03:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:03:57 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4800 +[05/27 08:03:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4800 in 2.81s (batch: 2.72s, save: 0.09s) +[05/27 08:03:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4800 +[05/27 08:03:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4800: 0/1 successful episodes +[05/27 08:03:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4872 (index 52/115) +[05/27 08:03:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4872 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 08:03:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +[05/27 08:04:02 Worker 0 WARNING object_manager.py:1238] Could not find object objasneaker_75c97069e89c4d84ab36922b77a97678_1_0_5 in scene +[05/27 08:04:02 Worker 0 WARNING object_manager.py:1238] Could not find object objanecklace_6cb44b2639434029872f4a0a03e42521_1_0_5 in scene +[05/27 08:04:02 Worker 0 WARNING object_manager.py:1238] Could not find object candle_1b82c5d62bcdb9c9e0fbc639fdc9e22a_1_0_5 in scene +Goal: place green smoke grenade with lever next to glossy black trophy +[2026-05-27 08:05:06,508] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:05:39 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 08:15:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 4872 episode 0 object objasmokegrenade_eb6b544af0ec4072b52d193c4d90efad_1_0_7 completed with success=False +[05/27 08:15:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4872: 1 episodes +[05/27 08:15:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:15:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:15:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4872 +[05/27 08:15:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4872 in 2.37s (batch: 2.28s, save: 0.09s) +[05/27 08:15:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4872 +[05/27 08:15:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4872: 0/1 successful episodes +[05/27 08:15:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4962 (index 53/115) +[05/27 08:15:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4962 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 08:15:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +Goal: place sleek black hairdryer with pink opening next to green dragon axe +[2026-05-27 08:16:40,332] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:17:13 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 08:32:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 4962 episode 0 object objahairdryer_9ddac67ac88d47758c8e85f154a61dbb_1_0_7 completed with success=False +[05/27 08:32:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4962: 1 episodes +[05/27 08:32:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:32:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:32:24 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4962 +[05/27 08:32:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4962 in 2.92s (batch: 2.83s, save: 0.09s) +[05/27 08:32:25 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4962 +[05/27 08:32:25 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4962: 0/1 successful episodes +[05/27 08:32:25 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5067 (index 54/115) +[05/27 08:32:25 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5067 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 08:32:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +[05/27 08:32:39 Worker 0 WARNING object_manager.py:1238] Could not find object objamodelairship_268669ad2fc54aafac3003b1656d2b20_1_0_6 in scene +[05/27 08:32:39 Worker 0 WARNING object_manager.py:1238] Could not find object laptop_a57856d0ecd933c51f9e8bf8f3bcf569_1_0_6 in scene +Goal: place portable black handheld radio with antenna next to beige fedora hat +[2026-05-27 08:33:43,956] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:36:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 5067 episode 0 object objawalkietalkie_282d16b8d5a84343953eb6d8d135722a_1_0_6 completed with success=True +[05/27 08:36:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5067: 1 episodes +[05/27 08:36:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 75 timesteps +[05/27 08:36:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:36:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5067 +[05/27 08:36:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5067 in 2.56s (batch: 2.53s, save: 0.03s) +[05/27 08:36:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5067 +[05/27 08:36:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5067: 1/1 successful episodes +[05/27 08:36:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5164 (index 55/115) +[05/27 08:36:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5164 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 08:36:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +Goal: place weathered stone medallion with flower next to brown egg +[2026-05-27 08:37:55,292] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:52:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 5164 episode 0 object objadecorativemedallion_8ac2c0dc500f4477ad31ccfd82a106f3_1_0_2 completed with success=False +[05/27 08:52:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5164: 1 episodes +[05/27 08:52:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 08:52:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 08:52:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5164 +[05/27 08:52:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5164 in 2.78s (batch: 2.69s, save: 0.09s) +[05/27 08:52:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5164 +[05/27 08:52:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5164: 0/1 successful episodes +[05/27 08:52:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5203 (index 56/115) +[05/27 08:52:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5203 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 08:52:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +Goal: place black axe with camouflage handle next to tomato +[2026-05-27 08:53:46,154] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 08:54:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 09:07:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 5203 episode 0 object objatacticaltool_939742983522410db0d0d18b38b5f48a_1_0_8 completed with success=False +[05/27 09:07:50 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5203: 1 episodes +[05/27 09:07:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:07:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:07:52 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5203 +[05/27 09:07:52 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5203 in 2.39s (batch: 2.30s, save: 0.09s) +[05/27 09:07:52 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5203 +[05/27 09:07:52 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5203: 0/1 successful episodes +[05/27 09:07:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5382 (index 57/115) +[05/27 09:07:52 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5382 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 09:07:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +Goal: place vintage wooden stamp handle next to bronze full-figured statue +[2026-05-27 09:09:00,318] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:09:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 09:21:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 5382 episode 0 object objastamp_08c428ecb76446c288479a3b95dfd144_1_0_9 completed with success=False +[05/27 09:21:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5382: 1 episodes +[05/27 09:21:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:21:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:21:51 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5382 +[05/27 09:21:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5382 in 2.74s (batch: 2.66s, save: 0.09s) +[05/27 09:21:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5382 +[05/27 09:21:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5382: 0/1 successful episodes +[05/27 09:21:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5459 (index 58/115) +[05/27 09:21:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5459 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 09:21:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +[05/27 09:23:13 Worker 0 WARNING object_manager.py:1238] Could not find object objafossilizedseashell_1b5378b435b246c094197cdf1b2801ee_1_0_4 in scene +[05/27 09:23:13 Worker 0 WARNING object_manager.py:1238] Could not find object alarmclock_85647c60207a07a17bbd65025ae5d72c_1_0_4 in scene +Goal: place gray handheld video camera with handle next to slim blue cell phone with pattern +[2026-05-27 09:24:16,099] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:24:49 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 09:35:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 5459 episode 0 object objavideocamera_55426eda2ba244a4b177e4b85400937c_1_0_7 completed with success=False +[05/27 09:35:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5459: 1 episodes +[05/27 09:35:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:35:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:35:12 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5459 +[05/27 09:35:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5459 in 2.83s (batch: 2.74s, save: 0.09s) +[05/27 09:35:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5459 +[05/27 09:35:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5459: 0/1 successful episodes +[05/27 09:35:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5546 (index 59/115) +[05/27 09:35:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5546 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 09:35:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/12 [00:00 does not support tracking retries. +Goal: place brown wooden studded club next to thick yellow hardcover programming book +[2026-05-27 09:36:23,843] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:36:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 09:44:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 5546 episode 0 object objadecorativeclub_de3246c2dea44185bf857acbcc51ae3b_1_0_2 completed with success=False +[05/27 09:44:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5546: 1 episodes +[05/27 09:44:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:44:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:44:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5546 +[05/27 09:44:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5546 in 2.77s (batch: 2.69s, save: 0.09s) +[05/27 09:44:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5546 +[05/27 09:44:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5546: 0/1 successful episodes +[05/27 09:44:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5612 (index 60/115) +[05/27 09:44:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5612 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 09:44:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/27 [00:00 does not support tracking retries. +Goal: place decorative eye sculpture next to glossy black dog statue +[2026-05-27 09:45:56,717] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:46:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 09:56:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 5612 episode 0 object objadecorativeeyesculpture_454bf9901cee4629b2e3b87541c8ab1f_1_0_4 completed with success=False +[05/27 09:56:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5612: 1 episodes +[05/27 09:56:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 09:56:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 09:56:43 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5612 +[05/27 09:56:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5612 in 2.77s (batch: 2.68s, save: 0.09s) +[05/27 09:56:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5612 +[05/27 09:56:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5612: 0/1 successful episodes +[05/27 09:56:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5668 (index 61/115) +[05/27 09:56:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5668 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 09:56:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +Goal: place gray rectangular vintage phone next to purple rectangular shiny quilted pillow +[2026-05-27 09:58:14,092] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 09:58:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 10:14:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 5668 episode 0 object objavintagemobilephone_440be7eb5de8469f84dbadefec1f0786_1_0_4 completed with success=False +[05/27 10:14:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5668: 1 episodes +[05/27 10:14:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:14:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:14:28 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5668 +[05/27 10:14:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5668 in 2.40s (batch: 2.30s, save: 0.09s) +[05/27 10:14:28 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5668 +[05/27 10:14:28 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5668: 0/1 successful episodes +[05/27 10:14:28 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5773 (index 62/115) +[05/27 10:14:28 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5773 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 10:14:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +[05/27 10:14:44 Worker 0 WARNING object_manager.py:1238] Could not find object objacoresample_1523f4c39bc84375b9ebf4e66fe972bf_1_0_2 in scene +Goal: place beige cartoon skeleton figure next to white candle with number four +[2026-05-27 10:15:48,314] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:16:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 10:28:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 5773 episode 0 object objaskeletonfigure_d607a92aa9b54909b993535f96997115_2_0_4 completed with success=False +[05/27 10:28:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5773: 1 episodes +[05/27 10:28:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:28:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:28:08 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5773 +[05/27 10:28:08 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5773 in 2.73s (batch: 2.65s, save: 0.09s) +[05/27 10:28:08 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5773 +[05/27 10:28:08 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5773: 0/1 successful episodes +[05/27 10:28:08 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5897 (index 63/115) +[05/27 10:28:08 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5897 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 10:28:08 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +Goal: place silver cross with grip next to black rectangular computer monitor +[2026-05-27 10:30:07,264] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:41:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 5897 episode 0 object objadecorativestake_a7b05f15639049798a22ae3976000dc4_1_0_5 completed with success=False +[05/27 10:41:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5897: 1 episodes +[05/27 10:41:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:41:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:41:43 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5897 +[05/27 10:41:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5897 in 2.81s (batch: 2.72s, save: 0.09s) +[05/27 10:41:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5897 +[05/27 10:41:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5897: 0/1 successful episodes +[05/27 10:41:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5928 (index 64/115) +[05/27 10:41:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5928 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 10:41:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/18 [00:00 does not support tracking retries. +Goal: place small circular device projecting blue light next to realistic primate skull +[2026-05-27 10:42:54,586] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:43:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 10:51:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 5928 episode 0 object objaholographicprojector_9860e2270f1245698995adce759c187f_1_0_2 completed with success=False +[05/27 10:51:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5928: 1 episodes +[05/27 10:51:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 10:51:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 10:51:19 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5928 +[05/27 10:51:19 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5928 in 2.33s (batch: 2.24s, save: 0.09s) +[05/27 10:51:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5928 +[05/27 10:51:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5928: 0/1 successful episodes +[05/27 10:51:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6068 (index 65/115) +[05/27 10:51:19 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6068 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 10:51:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +[05/27 10:51:40 Worker 0 WARNING object_manager.py:1238] Could not find object laptop_f09fcf086ebe9e3ab2d97bff50b833ef_1_0_5 in scene +Goal: place striped wasp next to gray rubber mallet with wooden handle +[2026-05-27 10:52:42,840] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 10:53:16 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 11:05:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 6068 episode 0 object objainsect_4c74d77df5ee41948218f8a620ec1228_1_0_2 completed with success=False +[05/27 11:05:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6068: 1 episodes +[05/27 11:05:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:05:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:05:51 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6068 +[05/27 11:05:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6068 in 2.85s (batch: 2.75s, save: 0.09s) +[05/27 11:05:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6068 +[05/27 11:05:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6068: 0/1 successful episodes +[05/27 11:05:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6143 (index 66/115) +[05/27 11:05:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6143 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 11:05:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/8 [00:00 does not support tracking retries. +Goal: place porcelain dish with colorful floral patterns next to smooth red apple with stem +[2026-05-27 11:06:57,194] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:07:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 11:13:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 6143 episode 0 object objadish_0f1f3038a3144ab88d39739cc980fdc1_1_0_2 completed with success=False +[05/27 11:13:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6143: 1 episodes +[05/27 11:13:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:13:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:13:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6143 +[05/27 11:13:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6143 in 2.78s (batch: 2.69s, save: 0.09s) +[05/27 11:13:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6143 +[05/27 11:13:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6143: 0/1 successful episodes +[05/27 11:13:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6205 (index 67/115) +[05/27 11:13:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6205 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 11:13:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +[05/27 11:13:38 Worker 0 WARNING object_manager.py:1238] Could not find object objamagnet_6123eb533c72464c976bbcbc79d0613c_1_0_6 in scene +Goal: place pop up card next to bulbous shiny gold vase +[2026-05-27 11:14:45,522] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:15:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 11:27:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 6205 episode 0 object objapopupcard_c384a40a36554ddeb1a0a08f8ec266d3_2_0_8 completed with success=False +[05/27 11:27:04 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6205: 1 episodes +[05/27 11:27:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:27:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:27:06 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6205 +[05/27 11:27:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6205 in 2.77s (batch: 2.68s, save: 0.10s) +[05/27 11:27:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6205 +[05/27 11:27:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6205: 0/1 successful episodes +[05/27 11:27:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6269 (index 68/115) +[05/27 11:27:07 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6269 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 11:27:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/24 [00:00 does not support tracking retries. +Goal: place blue soap bottle with orange pump next to gray bowl +[2026-05-27 11:28:22,810] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:28:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 11:38:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 6269 episode 0 object soapdispenser_a5b909071a32566c65c63f0ed9e3c5d4_1_0_6 completed with success=False +[05/27 11:38:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6269: 1 episodes +[05/27 11:38:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:38:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:38:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6269 +[05/27 11:38:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6269 in 2.78s (batch: 2.69s, save: 0.09s) +[05/27 11:38:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6269 +[05/27 11:38:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6269: 0/1 successful episodes +[05/27 11:38:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6303 (index 69/115) +[05/27 11:38:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6303 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 11:38:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +Goal: place blue marker next to translucent blue soap bottle with pump +[2026-05-27 11:39:21,230] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:39:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 11:47:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 6303 episode 0 object objamarkerpen_9ded8666275148929a57190ab939c735_1_0_6 completed with success=False +[05/27 11:47:17 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6303: 1 episodes +[05/27 11:47:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 11:47:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 11:47:19 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6303 +[05/27 11:47:19 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6303 in 2.32s (batch: 2.23s, save: 0.09s) +[05/27 11:47:20 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6303 +[05/27 11:47:20 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6303: 0/1 successful episodes +[05/27 11:47:20 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6391 (index 70/115) +[05/27 11:47:20 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6391 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 11:47:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +Goal: place rough corroded circular metal ring next to square olive green plate +[2026-05-27 11:48:34,056] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 11:49:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 12:02:02 Worker 0 INFO pipeline.py:1114] Worker 0 house 6391 episode 0 object objametalring_8b9edce1030849c0b2101af955b65b02_1_0_9 completed with success=False +[05/27 12:02:06 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6391: 1 episodes +[05/27 12:02:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:02:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:02:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6391 +[05/27 12:02:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6391 in 2.82s (batch: 2.73s, save: 0.09s) +[05/27 12:02:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6391 +[05/27 12:02:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6391: 0/1 successful episodes +[05/27 12:02:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6437 (index 71/115) +[05/27 12:02:09 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 6437 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 12:02:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +Goal: place blue milk carton with red logo next to rustic horn candleholder +[2026-05-27 12:03:24,980] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:03:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 12:19:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 6437 episode 0 object objamilkcarton_aa9103c0122246f68dd367e640df32bb_1_0_4 completed with success=False +[05/27 12:19:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +Goal: place small glossy turquoise eye of horus amulet next to dark laptop +[2026-05-27 12:20:32,941] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:36:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 6437 episode 1 object objaamulet_7300d219ed944585ace4b2509bef4f6e_1_0_3 completed with success=False +[05/27 12:36:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6437: 2 episodes +[05/27 12:36:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:36:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:36:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:36:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:36:32 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6437 +[05/27 12:36:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6437 in 4.72s (batch: 4.55s, save: 0.18s) +[05/27 12:36:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6437 +[05/27 12:36:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6437: 0/2 successful episodes +[05/27 12:36:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6469 (index 72/115) +[05/27 12:36:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6469 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 12:36:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/24 [00:00 does not support tracking retries. +Goal: place golden crescent moon pink wand next to laptop computer +[2026-05-27 12:37:39,127] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 12:38:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 12:49:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 6469 episode 0 object objadecorativewand_587b79d19e94452b8c825603fcbe834a_1_0_7 completed with success=False +[05/27 12:49:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6469: 1 episodes +[05/27 12:49:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 12:49:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 12:49:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6469 +[05/27 12:49:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6469 in 2.85s (batch: 2.76s, save: 0.09s) +[05/27 12:49:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6469 +[05/27 12:49:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6469: 0/1 successful episodes +[05/27 12:49:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6557 (index 73/115) +[05/27 12:49:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6557 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 12:49:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +[05/27 12:49:42 Worker 0 WARNING object_manager.py:1238] Could not find object objapartition_c493ffa0f0794041914d9d68dd439699_1_0_4 in scene +Goal: place equipment next to marblesculpture +[2026-05-27 12:50:50,648] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:05:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 6557 episode 0 object objatelephonehandset_0ddfdf35baa6475d9ba001a570eaeebd_1_0_6 completed with success=False +[05/27 13:05:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6557: 1 episodes +[05/27 13:05:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:05:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:05:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6557 +[05/27 13:05:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6557 in 2.79s (batch: 2.70s, save: 0.09s) +[05/27 13:05:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6557 +[05/27 13:05:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6557: 0/1 successful episodes +[05/27 13:05:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6705 (index 74/115) +[05/27 13:05:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6705 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 13:05:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +Goal: place classic red plastic cup with ridges next to smooth white triangular wedge with texture +[2026-05-27 13:06:34,496] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:07:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:17:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 6705 episode 0 object objaplasticcup_22798b1b718749608a0e729d576727a4_1_0_8 completed with success=False +[05/27 13:17:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6705: 1 episodes +[05/27 13:17:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:17:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:17:12 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6705 +[05/27 13:17:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6705 in 2.41s (batch: 2.31s, save: 0.10s) +[05/27 13:17:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6705 +[05/27 13:17:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6705: 0/1 successful episodes +[05/27 13:17:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6767 (index 75/115) +[05/27 13:17:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6767 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 13:17:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/5 [00:00 does not support tracking retries. +Goal: place transparent soap bottle with dark pump next to shallow dark round cooking pan +[2026-05-27 13:18:16,899] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:18:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:23:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 6767 episode 0 object soapdispenser_92169e2640439bd67fb105701482b508_1_0_2 completed with success=False +[05/27 13:23:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6767: 1 episodes +[05/27 13:23:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:23:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:23:51 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6767 +[05/27 13:23:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6767 in 2.82s (batch: 2.73s, save: 0.09s) +[05/27 13:23:52 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6767 +[05/27 13:23:52 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6767: 0/1 successful episodes +[05/27 13:23:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6903 (index 76/115) +[05/27 13:23:52 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6903 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 13:23:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +[05/27 13:24:09 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativepanel_a17676f45b3d483c9dc1910a2eb17269_1_0_5 in scene +Goal: place sleek dark blue triangular wedge next to plate +[2026-05-27 13:25:12,685] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:25:44 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:36:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 6903 episode 0 object objadecorativewedge_6c209105d3fe4d7db6a3520ceb255e96_1_0_8 completed with success=False +[05/27 13:36:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6903: 1 episodes +[05/27 13:36:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:36:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:36:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6903 +[05/27 13:36:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6903 in 2.85s (batch: 2.76s, save: 0.09s) +[05/27 13:36:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6903 +[05/27 13:36:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6903: 0/1 successful episodes +[05/27 13:36:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 6978 (index 77/115) +[05/27 13:36:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 6978 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 13:36:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +[05/27 13:36:47 Worker 0 WARNING object_manager.py:1238] Could not find object objacrocodileskull_839c00e0fed14ad38ee276b0e0806a60_1_0_4 in scene +[05/27 13:36:47 Worker 0 WARNING object_manager.py:1238] Could not find object plate_3a462adb63be096cddd3c836fdb52686_1_0_4 in scene +[05/27 13:36:47 Worker 0 WARNING object_manager.py:1238] Could not find object objadentures_9f8a86701e5549c6bf6004b4f58bdd31_1_0_5 in scene +[05/27 13:36:47 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_5 in scene +Goal: place black high-performance graphics card next to black metal scope mount with knob +[2026-05-27 13:37:51,541] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:38:30 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 13:54:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 6978 episode 0 object objagraphicscard_fab5cfb1c5c143878bdfc9be2f3827bb_1_0_3 completed with success=False +[05/27 13:54:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_6978: 1 episodes +[05/27 13:54:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 13:54:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 13:54:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6978 +[05/27 13:54:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_6978 in 2.31s (batch: 2.22s, save: 0.09s) +[05/27 13:54:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_6978 +[05/27 13:54:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 6978: 0/1 successful episodes +[05/27 13:54:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7015 (index 78/115) +[05/27 13:54:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7015 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 13:54:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[05/27 13:54:22 Worker 0 WARNING object_manager.py:1238] Could not find object statue_c1ca41050692ad4a2d2e80d2a1b1ad5f_1_0_9 in scene +Goal: place rectangular beige ceramic dish next to glossy translucent light blue bowl +[2026-05-27 13:55:26,581] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 13:55:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 14:08:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 7015 episode 0 object objaceramicdish_2ad1dfed7b784a2bb12fc7cbcb5f4831_1_0_8 completed with success=False +[05/27 14:09:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7015: 1 episodes +[05/27 14:09:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:09:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:09:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7015 +[05/27 14:09:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7015 in 2.41s (batch: 2.32s, save: 0.09s) +[05/27 14:09:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7015 +[05/27 14:09:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7015: 0/1 successful episodes +[05/27 14:09:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7083 (index 79/115) +[05/27 14:09:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7083 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 14:09:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/27 14:09:34 Worker 0 WARNING object_manager.py:1238] Could not find object objametalbar_2d1809423969400fbf94550978b1bcaa_1_0_8 in scene +Goal: place blue calendar with mountain design next to slim gold metallic phone +[2026-05-27 14:10:39,951] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:28:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 7083 episode 0 object objawallcalendar_3a39ed927ca343fa905a99dfe9093d5a_2_0_8 completed with success=False +[05/27 14:28:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7083: 1 episodes +[05/27 14:28:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:28:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:28:28 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7083 +[05/27 14:28:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7083 in 2.79s (batch: 2.70s, save: 0.09s) +[05/27 14:28:28 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7083 +[05/27 14:28:28 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7083: 0/1 successful episodes +[05/27 14:28:28 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7174 (index 80/115) +[05/27 14:28:28 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7174 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 14:28:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/27 14:28:41 Worker 0 WARNING object_manager.py:1238] Could not find object objacleaningsponge_afd092fac12f4ef8984b80d3d15de232_1_0_9 in scene +Goal: place black rectangular sunglasses next to mallet +[2026-05-27 14:29:44,791] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:42:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 7174 episode 0 object objasunglasses_c8d8a11e50f74bd390b35e4868984474_1_0_7 completed with success=False +[05/27 14:42:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7174: 1 episodes +[05/27 14:42:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 14:42:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:42:28 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7174 +[05/27 14:42:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7174 in 2.32s (batch: 2.23s, save: 0.09s) +[05/27 14:42:28 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7174 +[05/27 14:42:28 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7174: 0/1 successful episodes +[05/27 14:42:28 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7286 (index 81/115) +[05/27 14:42:28 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7286 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 14:42:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/18 [00:00 does not support tracking retries. +Goal: place pink gnome with beard next to glossy translucent light blue bowl +[2026-05-27 14:43:48,462] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:44:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 14:44:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 7286 episode 0 object objagardengnome_d2bbb5477fac472ca10ab8370aa18aae_1_0_2 completed with success=True +[05/27 14:44:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7286: 1 episodes +[05/27 14:44:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 43 timesteps +[05/27 14:44:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 14:44:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7286 +[05/27 14:44:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7286 in 2.16s (batch: 2.13s, save: 0.03s) +[05/27 14:44:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7286 +[05/27 14:44:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7286: 1/1 successful episodes +[05/27 14:44:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7346 (index 82/115) +[05/27 14:44:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7346 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 14:44:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +Goal: place tableware next to laptop computer +[2026-05-27 14:46:18,008] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 14:46:54 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:04:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 7346 episode 0 object bowl_80746f55d05634985152668dea7876a0_1_0_4 completed with success=False +[05/27 15:04:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7346: 1 episodes +[05/27 15:04:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:04:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:04:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7346 +[05/27 15:04:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7346 in 2.86s (batch: 2.77s, save: 0.09s) +[05/27 15:04:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7346 +[05/27 15:04:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7346: 0/1 successful episodes +[05/27 15:04:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7396 (index 83/115) +[05/27 15:04:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7396 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 15:04:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +[05/27 15:04:47 Worker 0 WARNING object_manager.py:1238] Could not find object objakylix_5151f64b23fa4e9491f064575622af19_1_0_7 in scene +Goal: place golden crimped pastry with crisscross pattern next to veggie +[2026-05-27 15:05:51,437] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:06:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:14:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 7396 episode 0 object objapastry_5c98cf58df074aa89633a055ddef2e49_1_0_6 completed with success=False +[05/27 15:14:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7396: 1 episodes +[05/27 15:14:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:14:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:14:58 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7396 +[05/27 15:14:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7396 in 2.78s (batch: 2.69s, save: 0.09s) +[05/27 15:14:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7396 +[05/27 15:14:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7396: 0/1 successful episodes +[05/27 15:14:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7453 (index 84/115) +[05/27 15:14:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7453 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 15:14:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[05/27 15:15:12 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_4 in scene +Goal: place white stand with red flag next to dentures +[2026-05-27 15:16:19,660] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:31:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 7453 episode 0 object objamarkerstand_4b59e422673a438685b77375029f7926_1_0_7 completed with success=False +[05/27 15:31:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7453: 1 episodes +[05/27 15:31:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:31:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:31:12 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7453 +[05/27 15:31:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7453 in 2.70s (batch: 2.61s, save: 0.09s) +[05/27 15:31:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7453 +[05/27 15:31:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7453: 0/1 successful episodes +[05/27 15:31:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7568 (index 85/115) +[05/27 15:31:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7568 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 15:31:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/8 [00:00 does not support tracking retries. +Goal: place gavel with brown handle and brass next to topographicalmap +[2026-05-27 15:32:19,466] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:32:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:38:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 7568 episode 0 object objagavel_2ae6147628c04ac7a28bfe2b5982b4c3_1_0_2 completed with success=False +[05/27 15:38:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7568: 1 episodes +[05/27 15:38:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:38:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:38:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7568 +[05/27 15:38:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7568 in 2.42s (batch: 2.33s, save: 0.09s) +[05/27 15:38:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7568 +[05/27 15:38:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7568: 0/1 successful episodes +[05/27 15:38:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7668 (index 86/115) +[05/27 15:38:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7668 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 15:38:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/44 [00:00 does not support tracking retries. +[05/27 15:38:23 Worker 0 WARNING object_manager.py:1238] Could not find object objaglove_437e50e2a7b441ba87d54392c39c0baf_1_0_8 in scene +[05/27 15:38:23 Worker 0 WARNING object_manager.py:1238] Could not find object objacandywrapper_f63a19caad054232bada31bf9dda010b_1_0_8 in scene +Goal: place blue eye with eyelashes next to spray bottle +[2026-05-27 15:39:27,192] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:40:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:53:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 7668 episode 0 object objadecorativeeye_9d390baaeec94960808345f88af56997_1_0_8 completed with success=False +[05/27 15:53:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7668: 1 episodes +[05/27 15:53:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 15:53:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:53:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7668 +[05/27 15:53:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7668 in 2.83s (batch: 2.74s, save: 0.09s) +[05/27 15:53:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7668 +[05/27 15:53:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7668: 0/1 successful episodes +[05/27 15:53:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7765 (index 87/115) +[05/27 15:53:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7765 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 15:53:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/24 [00:00 does not support tracking retries. +Goal: place futuristic purple toy blaster with accents next to yellow striped airship +[2026-05-27 15:54:29,421] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:55:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 15:55:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 7765 episode 0 object objatoyblaster_bd41ea9e538343b3a6f90b159a219d04_1_0_6 completed with success=True +[05/27 15:55:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7765: 1 episodes +[05/27 15:55:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 45 timesteps +[05/27 15:55:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 15:55:57 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7765 +[05/27 15:55:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7765 in 2.48s (batch: 2.45s, save: 0.03s) +[05/27 15:55:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7765 +[05/27 15:55:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7765: 1/1 successful episodes +[05/27 15:55:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7856 (index 88/115) +[05/27 15:55:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7856 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 15:55:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +[05/27 15:56:30 Worker 0 WARNING object_manager.py:1238] Could not find object objaspraycan_f761c777f54e414dba0b54dbab6453c7_1_0_5 in scene +Goal: place pink hexagonal headed screw next to brown loaf bread +[2026-05-27 15:57:34,146] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 15:58:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 16:13:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 7856 episode 0 object objascrew_3c8aee2219d3478c877857da97042133_1_0_2 completed with success=False +[05/27 16:13:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7856: 1 episodes +[05/27 16:13:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:13:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:13:39 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7856 +[05/27 16:13:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7856 in 2.42s (batch: 2.33s, save: 0.09s) +[05/27 16:13:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7856 +[05/27 16:13:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7856: 0/1 successful episodes +[05/27 16:13:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 7970 (index 89/115) +[05/27 16:13:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 7970 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 16:13:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +[05/27 16:13:57 Worker 0 WARNING object_manager.py:1238] Could not find object objatoy_4da717f372044adc85144a15e5479189_1_0_6 in scene +[05/27 16:13:57 Worker 0 WARNING object_manager.py:1238] Could not find object knife_8409451f726b7f0640a91ddd7ae630cf_1_0_6 in scene +Goal: place light rubber mallet with handle next to rugged gray rocky terrain with moss +[2026-05-27 16:15:00,231] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:16:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 7970 episode 0 object objarubbermallet_f6f3eee2d418463bbab1abe93e274d60_1_0_6 completed with success=True +[05/27 16:16:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_7970: 1 episodes +[05/27 16:16:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 56 timesteps +[05/27 16:16:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:16:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7970 +[05/27 16:16:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_7970 in 2.54s (batch: 2.51s, save: 0.03s) +[05/27 16:16:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_7970 +[05/27 16:16:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 7970: 1/1 successful episodes +[05/27 16:16:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8056 (index 90/115) +[05/27 16:16:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8056 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 16:16:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/11 [00:00 does not support tracking retries. +Goal: place dark telephone next to table lamp +[2026-05-27 16:17:59,546] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:18:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 16:21:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 8056 episode 0 object objatelephone_6f17039417674bb7b44d5dd823cb1c72_1_0_2 completed with success=False +[05/27 16:21:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8056: 1 episodes +[05/27 16:21:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:21:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:21:25 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8056 +[05/27 16:21:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8056 in 2.70s (batch: 2.61s, save: 0.09s) +[05/27 16:21:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8056 +[05/27 16:21:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8056: 0/1 successful episodes +[05/27 16:21:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8125 (index 91/115) +[05/27 16:21:26 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8125 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 16:21:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +Goal: place colorful cube next to dark rectangular plaque with engraved text +[2026-05-27 16:22:39,464] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:23:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 16:36:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 8125 episode 0 object objapuzzlecube_a330167eb4534097af6f386765b93f04_1_0_9 completed with success=False +[05/27 16:36:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8125: 1 episodes +[05/27 16:36:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:37:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:37:00 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8125 +[05/27 16:37:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8125 in 2.32s (batch: 2.23s, save: 0.09s) +[05/27 16:37:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8125 +[05/27 16:37:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8125: 0/1 successful episodes +[05/27 16:37:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8224 (index 92/115) +[05/27 16:37:00 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8224 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 16:37:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/27 16:37:26 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturelighthouse_bde6dcab0a89413eba4422da59f19cef_1_0_7 in scene +Goal: place black wireless ergonomic mouse next to gray bowl +[2026-05-27 16:38:29,502] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:39:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 16:52:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 8224 episode 0 object objacomputermouse_2b70993763034bef8587d3730c7ca8ff_1_0_9 completed with success=False +[05/27 16:52:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8224: 1 episodes +[05/27 16:52:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 16:52:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 16:52:47 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8224 +[05/27 16:52:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8224 in 2.32s (batch: 2.23s, save: 0.09s) +[05/27 16:52:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8224 +[05/27 16:52:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8224: 0/1 successful episodes +[05/27 16:52:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8277 (index 93/115) +[05/27 16:52:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8277 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 16:52:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +Goal: place antique dark metal knocker with figure next to black grenade with purple panels +[2026-05-27 16:54:05,875] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 16:54:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 17:04:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 8277 episode 0 object objadoorknocker_1186251805584e29b3fd39f83a54c8ae_1_0_2 completed with success=False +[05/27 17:04:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8277: 1 episodes +[05/27 17:04:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:04:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:04:57 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8277 +[05/27 17:04:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8277 in 2.37s (batch: 2.28s, save: 0.09s) +[05/27 17:04:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8277 +[05/27 17:04:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8277: 0/1 successful episodes +[05/27 17:04:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8386 (index 94/115) +[05/27 17:04:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8386 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 17:04:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/27 [00:00 does not support tracking retries. +[05/27 17:05:01 Worker 0 WARNING object_manager.py:1238] Could not find object objaclog_b931698a3f5f4fb2a1c27aae7f6120e2_1_0_5 in scene +[05/27 17:05:01 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_8c6e5265f19b49709119c2628c2bdf3f_1_0_5 in scene +Goal: place wooden gear next to gray bowl +[2026-05-27 17:06:05,689] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:06:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 17:16:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 8386 episode 0 object objamechanicalmodel_dafd23d4b0c5400da70f6aaf5782457b_1_0_7 completed with success=False +[05/27 17:16:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8386: 1 episodes +[05/27 17:16:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:16:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:16:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8386 +[05/27 17:16:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8386 in 2.31s (batch: 2.22s, save: 0.09s) +[05/27 17:16:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8386 +[05/27 17:16:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8386: 0/1 successful episodes +[05/27 17:16:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8421 (index 95/115) +[05/27 17:16:31 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 8421 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 17:16:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/27 17:16:43 Worker 0 WARNING object_manager.py:1238] Could not find object objabouquet_8dab593c78374d59abcf66c8185249cb_1_0_8 in scene +[05/27 17:16:43 Worker 0 WARNING object_manager.py:1238] Could not find object cellulartelephone_1fa394556eb37156656d60fc604d4668_2_0_8 in scene +Goal: place cylindrical dark nhl pencilcase next to small red barn model with windows +[2026-05-27 17:17:48,134] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:18:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 17:34:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 8421 episode 0 object objapencilcase_07e5a1bc68f2433eb8fb3db3582ec3d9_1_0_4 completed with success=False +[05/27 17:34:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/27 17:34:22 Worker 0 WARNING object_manager.py:1238] Could not find object objabouquet_8dab593c78374d59abcf66c8185249cb_1_0_8 in scene +[05/27 17:34:22 Worker 0 WARNING object_manager.py:1238] Could not find object cellulartelephone_1fa394556eb37156656d60fc604d4668_2_0_8 in scene +Goal: place crumpledpaper next to soap bottle +[2026-05-27 17:35:25,896] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:36:03 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 17:51:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 8421 episode 1 object objacrumpledpaper_bab9b0a4a3194165be4ac939c565d39f_1_0_2 completed with success=False +[05/27 17:51:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8421: 2 episodes +[05/27 17:51:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:51:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 17:51:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:51:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 17:51:45 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8421 +[05/27 17:51:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8421 in 5.58s (batch: 5.41s, save: 0.18s) +[05/27 17:51:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8421 +[05/27 17:51:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8421: 0/2 successful episodes +[05/27 17:51:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8428 (index 96/115) +[05/27 17:51:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8428 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 17:51:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +[05/27 17:51:59 Worker 0 WARNING object_manager.py:1238] Could not find object objanameplate_e8fa71a9f9394ea68e6e60ac33f7f27d_1_0_7 in scene +[05/27 17:51:59 Worker 0 WARNING object_manager.py:1238] Could not find object objawoodendowel_20ea40d2c37347e8831af61307c1f508_1_0_7 in scene +Goal: place chisel with wooden handle next to purple rectangular shiny quilted pillow +[2026-05-27 17:53:07,928] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 17:53:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 18:01:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 8428 episode 0 object objachisel_d40e8b39928a45d6a81eebe1c3149883_1_0_2 completed with success=False +[05/27 18:01:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8428: 1 episodes +[05/27 18:01:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:01:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:01:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8428 +[05/27 18:01:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8428 in 2.34s (batch: 2.25s, save: 0.09s) +[05/27 18:01:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8428 +[05/27 18:01:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8428: 0/1 successful episodes +[05/27 18:01:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8506 (index 97/115) +[05/27 18:01:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8506 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 18:01:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/14 [00:00 does not support tracking retries. +[05/27 18:01:22 Worker 0 WARNING object_manager.py:1238] Could not find object objaanimalmodel_f6e32918e34a420ca8f2207026242b7e_1_0_3 in scene +Goal: place round brown bread loaf next to red glass vase +[2026-05-27 18:02:26,485] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:03:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 18:09:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 8506 episode 0 object bread_41716c58b3d4c7691e7c0a1ca9c91854_1_0_2 completed with success=False +[05/27 18:10:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8506: 1 episodes +[05/27 18:10:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:10:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:10:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8506 +[05/27 18:10:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8506 in 2.84s (batch: 2.75s, save: 0.09s) +[05/27 18:10:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8506 +[05/27 18:10:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8506: 0/1 successful episodes +[05/27 18:10:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8627 (index 98/115) +[05/27 18:10:04 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8627 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 18:10:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +[05/27 18:10:13 Worker 0 WARNING object_manager.py:1238] Could not find object plate_b137b580936425a0757a2df506ec58fb_1_0_7 in scene +Goal: place spray bottle next to small stemmed red apple +[2026-05-27 18:11:18,664] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:11:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 18:21:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 8627 episode 0 object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_6 completed with success=False +[05/27 18:21:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8627: 1 episodes +[05/27 18:21:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:21:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:21:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8627 +[05/27 18:21:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8627 in 2.35s (batch: 2.27s, save: 0.09s) +[05/27 18:21:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8627 +[05/27 18:21:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8627: 0/1 successful episodes +[05/27 18:21:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8701 (index 99/115) +[05/27 18:21:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8701 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 18:21:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[05/27 18:21:20 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturecastletower_a08a00d32f694f219170f6867cbc7d46_2_0_5 in scene +[05/27 18:21:20 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativetile_7584f83361f546ed890ae9aa823df1cb_1_0_5 in scene +Goal: place white rectangular electrical component next to digital clock +[2026-05-27 18:22:23,868] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:38:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 8701 episode 0 object objaelectricalcomponent_aab3af6780ff4bb7a5ec47cb4046d811_1_0_6 completed with success=False +[05/27 18:38:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8701: 1 episodes +[05/27 18:38:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:38:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:38:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8701 +[05/27 18:38:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8701 in 2.83s (batch: 2.73s, save: 0.10s) +[05/27 18:38:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8701 +[05/27 18:38:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8701: 0/1 successful episodes +[05/27 18:38:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8795 (index 100/115) +[05/27 18:38:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8795 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 18:38:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +Goal: place gray metal rod with perforated top next to angular dark stealth aircraft with wings +[2026-05-27 18:39:37,421] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 18:55:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 8795 episode 0 object objamountingfixture_c45afc98ee6c4081a0091f6cb3b0ee66_1_0_2 completed with success=False +[05/27 18:55:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8795: 1 episodes +[05/27 18:55:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 18:55:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 18:55:47 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8795 +[05/27 18:55:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8795 in 2.33s (batch: 2.24s, save: 0.09s) +[05/27 18:55:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8795 +[05/27 18:55:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8795: 0/1 successful episodes +[05/27 18:55:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8878 (index 101/115) +[05/27 18:55:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8878 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 18:55:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/17 [00:00 does not support tracking retries. +[05/27 18:55:51 Worker 0 WARNING object_manager.py:1238] Could not find object pencil_2c624e64d6f8a208a3a089ad77d16aa1_1_0_2 in scene +Goal: place polished gold handbell next to invertebrate +[2026-05-27 18:56:56,030] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:04:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 8878 episode 0 object objahandbell_44ac826f5fce46ff8fdcbdafd15d4258_1_0_3 completed with success=False +[05/27 19:04:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8878: 1 episodes +[05/27 19:04:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:04:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:04:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8878 +[05/27 19:04:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8878 in 2.86s (batch: 2.77s, save: 0.09s) +[05/27 19:04:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8878 +[05/27 19:04:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8878: 0/1 successful episodes +[05/27 19:04:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 8950 (index 102/115) +[05/27 19:04:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 8950 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 19:04:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +Goal: place crumpled green nvidia package next to medium blue ceramic bowl with rim +[2026-05-27 19:06:20,610] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:06:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:20:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 8950 episode 0 object objapackage_a509f13063c642f9aa2f5a15aafa7f4e_1_0_8 completed with success=False +[05/27 19:20:04 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_8950: 1 episodes +[05/27 19:20:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:20:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:20:06 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8950 +[05/27 19:20:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_8950 in 2.36s (batch: 2.26s, save: 0.09s) +[05/27 19:20:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_8950 +[05/27 19:20:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 8950: 0/1 successful episodes +[05/27 19:20:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9020 (index 103/115) +[05/27 19:20:07 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9020 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 19:20:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 +[05/27 19:20:18 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/27 19:20:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/27 19:20:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' +[05/27 19:20:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' +[05/27 19:20:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/27 19:20:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the carton and place it next to the bronze statue of nude female' +[05/27 19:20:18 Worker 0 INFO pipeline.py:1050] Worker 0 house 9020 episode 0/1 collected=0/2 +[05/27 19:20:18 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/27 19:20:18 Worker 0 WARNING object_manager.py:1238] Could not find object objafossil_7a6f6ef6a5054f3b92a5ba06f451d0b3_1_0_8 in scene +[05/27 19:20:18 Worker 0 WARNING object_manager.py:1238] Could not find object plate_d3f03fb737fec5e1ec6a907be81b1810_1_0_8 in scene +Goal: place carton next to bronze statue of nude female +[2026-05-27 19:21:23,400] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:21:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 19:35:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 9020 episode 0 object box_e7e029a9fdad1078011b9d2693eb5ef1_1_0_4 completed with success=False +[05/27 19:35:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9020: 1 episodes +[05/27 19:35:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:35:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:35:24 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9020 +[05/27 19:35:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9020 in 2.88s (batch: 2.79s, save: 0.09s) +[05/27 19:35:25 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9020 +[05/27 19:35:25 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9020: 0/1 successful episodes +[05/27 19:35:25 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9080 (index 104/115) +[05/27 19:35:25 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9080 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 19:35:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +Goal: place sleek curved metal bottle opener next to yellow spiky hair bust silhouette +[2026-05-27 19:36:40,899] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 19:50:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 9080 episode 0 object objabottleopener_c64e41ddd1f84299b995b5fed1a3b43e_1_0_6 completed with success=False +[05/27 19:50:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9080: 1 episodes +[05/27 19:50:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 19:50:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 19:50:20 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9080 +[05/27 19:50:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9080 in 2.37s (batch: 2.28s, save: 0.09s) +[05/27 19:50:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9080 +[05/27 19:50:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9080: 0/1 successful episodes +[05/27 19:50:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9153 (index 105/115) +[05/27 19:50:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9153 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 19:50:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +[05/27 19:51:00 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_3 in scene +Goal: place light wooden bridge with arches next to purple and yellow pixelated knife +[2026-05-27 19:52:05,839] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:04:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 9153 episode 0 object objamodelbridge_02217be5148946099483fb93a7e9ab0a_1_0_2 completed with success=False +[05/27 20:04:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9153: 1 episodes +[05/27 20:04:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:04:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:04:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9153 +[05/27 20:04:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9153 in 2.75s (batch: 2.66s, save: 0.09s) +[05/27 20:04:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9153 +[05/27 20:04:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9153: 0/1 successful episodes +[05/27 20:04:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9228 (index 106/115) +[05/27 20:04:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9228 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 20:04:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/18 [00:00 does not support tracking retries. +Goal: place pastry next to glossy brown goblet cup for beverages +[2026-05-27 20:05:29,971] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:06:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:15:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 9228 episode 0 object objapastry_7fda2ce0924e4628be50bb75701ba41c_1_0_6 completed with success=False +[05/27 20:15:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9228: 1 episodes +[05/27 20:15:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:15:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:15:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9228 +[05/27 20:15:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9228 in 2.81s (batch: 2.72s, save: 0.09s) +[05/27 20:15:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9228 +[05/27 20:15:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9228: 0/1 successful episodes +[05/27 20:15:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9305 (index 107/115) +[05/27 20:15:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9305 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 20:15:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +[05/27 20:16:27 Worker 0 WARNING object_manager.py:1238] Could not find object objalantern_e31ea000207044df9a96178592bf27c8_1_0_5 in scene +[05/27 20:16:27 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_5 in scene +Goal: place traditional wooden rubber stamp with metal next to yellow realme box +[2026-05-27 20:17:31,022] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:18:04 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:28:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 9305 episode 0 object objarubberstamp_57b6ce9f7f0244e2b691d33c1bbde4ad_1_0_7 completed with success=False +[05/27 20:28:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9305: 1 episodes +[05/27 20:28:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:28:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:28:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9305 +[05/27 20:28:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9305 in 2.88s (batch: 2.79s, save: 0.09s) +[05/27 20:28:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9305 +[05/27 20:28:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9305: 0/1 successful episodes +[05/27 20:28:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9420 (index 108/115) +[05/27 20:28:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9420 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 20:28:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +Goal: place tall vase with scalloped rim next to vintage wooden stamp handle +[2026-05-27 20:30:02,839] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:30:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:40:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 9420 episode 0 object vase_167c6c1d7784abbddfcb5d35cfc28d28_1_0_9 completed with success=False +[05/27 20:40:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9420: 1 episodes +[05/27 20:40:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:40:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:40:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9420 +[05/27 20:40:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9420 in 2.29s (batch: 2.19s, save: 0.09s) +[05/27 20:40:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9420 +[05/27 20:40:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9420: 0/1 successful episodes +[05/27 20:40:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9494 (index 109/115) +[05/27 20:40:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9494 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 20:40:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/26 [00:00 does not support tracking retries. +[05/27 20:41:11 Worker 0 WARNING object_manager.py:1238] Could not find object objasponge_fc6f343e05344c49baa810fb280e9dcb_1_0_5 in scene +Goal: place white space shuttle with red markings next to blue bolster pillow +[2026-05-27 20:42:14,799] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:42:47 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 20:53:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 9494 episode 0 object objaspaceshuttlemodel_126c15b428494313a494c06822f2a756_1_0_7 completed with success=False +[05/27 20:53:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9494: 1 episodes +[05/27 20:53:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:53:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:53:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9494 +[05/27 20:53:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9494 in 2.34s (batch: 2.25s, save: 0.09s) +[05/27 20:53:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9494 +[05/27 20:53:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9494: 0/1 successful episodes +[05/27 20:53:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9541 (index 110/115) +[05/27 20:53:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9541 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 20:53:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/14 [00:00 does not support tracking retries. +[05/27 20:53:49 Worker 0 WARNING object_manager.py:1238] Could not find object objaadjustablewrench_b3373981536640b98483a890d9a14060_1_0_2 in scene +[05/27 20:53:49 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_f815ad52d37c217cefc0cafa7edbb112_1_0_2 in scene +Goal: place pink wand with red sphere next to tall dark cup with ridges base +[2026-05-27 20:54:53,283] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:57:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 9541 episode 0 object objadecorativewand_612582bc490a4353ba468a9839bf9119_1_0_2 completed with success=False +[05/27 20:57:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9541: 1 episodes +[05/27 20:57:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 20:57:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 20:57:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9541 +[05/27 20:57:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9541 in 2.74s (batch: 2.65s, save: 0.09s) +[05/27 20:57:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9541 +[05/27 20:57:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9541: 0/1 successful episodes +[05/27 20:57:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9632 (index 111/115) +[05/27 20:57:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9632 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 20:57:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/32 [00:00 does not support tracking retries. +[05/27 20:57:15 Worker 0 WARNING object_manager.py:1238] Could not find object objanoticeboard_30603b4f64764a10bb698df10f0c5453_1_0_5 in scene +[05/27 20:57:15 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativelighthouse_efc08602dbff41d28ab59d29b36fdb05_1_0_5 in scene +Goal: place transparent rectangular plastic storage container next to gray hardcover book with gold +[2026-05-27 20:58:21,986] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 20:58:54 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 21:10:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 9632 episode 0 object objastoragecontainer_1d9ba0041c5c409d9823eef8e50dde9b_1_0_6 completed with success=False +[05/27 21:10:46 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9632: 1 episodes +[05/27 21:10:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 21:10:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 21:10:49 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9632 +[05/27 21:10:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9632 in 2.77s (batch: 2.67s, save: 0.09s) +[05/27 21:10:49 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9632 +[05/27 21:10:49 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9632: 0/1 successful episodes +[05/27 21:10:49 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9710 (index 112/115) +[05/27 21:10:49 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9710 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 21:10:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[05/27 21:11:04 Worker 0 WARNING object_manager.py:1238] Could not find object objavhstape_dc3c4b3cc513486b87a9d5f7d344d132_1_0_6 in scene +[05/27 21:11:04 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_92169e2640439bd67fb105701482b508_1_0_7 in scene +Goal: place lavender soap bar with hole and emboss next to cream candle in blue holder +[2026-05-27 21:12:08,758] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 21:26:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 9710 episode 0 object objasoap_bc2d6e60f6ac4eccb55eb9026925c617_1_0_5 completed with success=False +[05/27 21:26:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9710: 1 episodes +[05/27 21:26:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 21:26:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 21:26:24 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9710 +[05/27 21:26:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9710 in 2.45s (batch: 2.36s, save: 0.09s) +[05/27 21:26:25 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9710 +[05/27 21:26:25 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9710: 0/1 successful episodes +[05/27 21:26:25 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9821 (index 113/115) +[05/27 21:26:25 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9821 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 21:26:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[05/27 21:27:01 Worker 0 WARNING object_manager.py:1238] Could not find object objaicon_c4a8fd71e3424524b20726223ee23883_1_0_7 in scene +Goal: place pink rectangular popsicle on stick next to medium oval brown potato with texture +[2026-05-27 21:28:04,552] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 21:28:44 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 21:43:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 9821 episode 0 object objapopsicle_d6caf34a19354df890e60be6786de20c_1_0_2 completed with success=False +[05/27 21:43:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9821: 1 episodes +[05/27 21:43:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 21:43:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 21:43:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9821 +[05/27 21:43:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9821 in 2.32s (batch: 2.23s, save: 0.09s) +[05/27 21:43:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9821 +[05/27 21:43:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9821: 0/1 successful episodes +[05/27 21:43:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 9940 (index 114/115) +[05/27 21:43:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 9940 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 +[05/27 21:43:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/17 [00:00 does not support tracking retries. +Goal: place black cross medal next to light blue dolphin with prominent fins +[2026-05-27 21:44:47,409] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/27 21:45:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/27 21:52:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 9940 episode 0 object objamedal_60d7eeb3f86343428d565e06d1e28703_1_0_2 completed with success=False +[05/27 21:52:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_9940: 1 episodes +[05/27 21:52:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/27 21:52:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/27 21:52:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9940 +[05/27 21:52:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_9940 in 2.73s (batch: 2.64s, save: 0.09s) +[05/27 21:52:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_9940 +[05/27 21:52:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 9940: 0/1 successful episodes +[05/27 21:52:34 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses +[05/27 21:52:35 INFO pipeline.py:1496] Completed 115 houses, skipped 0 houses +[05/27 21:52:35 INFO pipeline.py:1499] Success count: 4, Total count: 119 +[05/27 21:52:35 INFO pipeline.py:1500] Success rate: 3.36% +Combined 119 episodes from 115 files → /tmp/tmpk3xu8sg2.h5 + +Saved → /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/results.csv at-end: 3.36% | oracle: 3.36% of 119 episodes +[2026-05-27 21:52:48,847] INFO MolmoSpaces simulator eval finished: success=4/119 rate=0.0336 output=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval +[2026-05-27 21:52:48,847] INFO Benchmark CSV: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/results.csv diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/submission/eval_meta.json b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/submission/eval_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..eae4c2f46fb0338123fea144fd3d73443d5b6951 --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/submission/eval_meta.json @@ -0,0 +1,9 @@ +{ + "step": null, + "checkpoint_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt", + "benchmark_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06", + "policy_name": "latest", + "command": "#!/usr/bin/env bash\nset -euo pipefail\ncd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy\nconda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament", + "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815", + "csv_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/results.csv" +} diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/submission/results.csv b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/submission/results.csv new file mode 100644 index 0000000000000000000000000000000000000000..83f7ccf7a00ecd0b761fe7f7939578e921929773 --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/submission/results.csv @@ -0,0 +1,113 @@ +# policy_name: latest +# run_path: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815 +# dt: 0.066 +# max_steps: 450 +policy,category,successes,total,success_rate_pct,ci_95_low_pct,ci_95_high_pct,oracle_successes,oracle_rate_pct,oracle_ci_95_low_pct,oracle_ci_95_high_pct,jerk_joint_mean,jerk_joint_std +latest,Bowl,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,87.865928,0.0 +latest,Box,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,30.473414,8.609321 +latest,Bread,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.578375,0.0 +latest,Candle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.972592,0.0 +latest,Cookingpan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.926118,0.0 +latest,Cup,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,62.210069,50.015567 +latest,Irishpotato,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,46.543901,0.0 +latest,Knife,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,32.565685,18.273287 +latest,Objaamulet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,33.272744,0.0 +latest,Objabellpepper,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,18.020835,0.0 +latest,Objabottleopener,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,61.614293,0.0 +latest,Objacamera,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,63.491757,11.853191 +latest,Objacandle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,43.149159,0.0 +latest,Objacap,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,79.816805,0.0 +latest,Objaceramicdish,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.471331,0.0 +latest,Objachisel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,16.784808,0.0 +latest,Objacleaningsponge,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,55.672358,0.0 +latest,Objacomponent,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,22.61486,0.0 +latest,Objacomputermouse,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.757065,0.0 +latest,Objacrumpledpaper,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,94.878213,0.0 +latest,Objadecorativeclub,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,18.901153,0.0 +latest,Objadecorativeeye,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.449417,0.0 +latest,Objadecorativeeyesculpture,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,41.183536,0.0 +latest,Objadecorativemedallion,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,54.425586,0.0 +latest,Objadecorativestake,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,36.551809,3.478333 +latest,Objadecorativestick,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,35.442772,0.0 +latest,Objadecorativetrim,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,25.919487,0.0 +latest,Objadecorativewand,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,25.367243,11.405685 +latest,Objadecorativewedge,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,24.639077,11.098103 +latest,Objadeskcalendar,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,49.103889,0.0 +latest,Objadish,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,60.505288,0.0 +latest,Objadoorknocker,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.136361,0.0 +latest,Objaelectricalcomponent,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,34.721827,0.0 +latest,Objaelectricalconnector,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,218.977125,0.0 +latest,Objaexplosivedevice,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.379809,0.0 +latest,Objafantasyhammer,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,50.124182,0.0 +latest,Objafinial,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,41.374547,0.0 +latest,Objagardengnome,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,26.142155,0.0 +latest,Objagarlic,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,33.223166,5.351031 +latest,Objagavel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,14.644088,0.0 +latest,Objagoblet,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,38.46677,0.0 +latest,Objagourd,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.001252,0.0 +latest,Objagraphicscard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,14.027694,0.0 +latest,Objagunsuppressor,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,59.102982,0.0 +latest,Objahairdryer,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,26.048113,0.0 +latest,Objahandbell,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,18.612766,8.224163 +latest,Objahandheldgameconsole,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,44.938414,0.0 +latest,Objahandheldtool,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,17.93999,0.0 +latest,Objahandtool,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,67.800567,0.0 +latest,Objaholographicprojector,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,33.277808,0.0 +latest,Objainsect,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,59.801705,0.0 +latest,Objajuicer,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.469057,0.0 +latest,Objamace,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,17.284982,0.0 +latest,Objamarblesculpture,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,56.219218,0.0 +latest,Objamarker,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,55.667408,4.718283 +latest,Objamarkerpen,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,30.835149,0.0 +latest,Objamarkerstand,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,30.857678,0.0 +latest,Objamechanicalmodel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,14.180248,0.0 +latest,Objamedal,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.368381,0.0 +latest,Objametalring,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.647471,0.0 +latest,Objamilkcarton,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,9.942303,0.0 +latest,Objamodelbridge,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,49.606357,0.0 +latest,Objamokapot,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,24.56052,0.0 +latest,Objamountingfixture,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.865746,0.0 +latest,Objamoviecamera,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,55.11724,0.0 +latest,Objapackage,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,52.654128,0.0 +latest,Objapastry,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,109.409105,54.23784 +latest,Objapencilcase,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,37.939836,0.0 +latest,Objapestle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,25.88715,0.0 +latest,Objaplasticcup,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,79.698172,0.0 +latest,Objapopsicle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,28.350542,0.0 +latest,Objapopupcard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.976076,0.0 +latest,Objapuzzlecube,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,57.297718,0.0 +latest,Objarollerassembly,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,50.277157,0.0 +latest,Objarubbermallet,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,20.107312,0.0 +latest,Objarubberstamp,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,56.735463,0.0 +latest,Objasafetyglasses,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,13.958764,0.0 +latest,Objascrew,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,49.948447,0.0 +latest,Objaskeletonfigure,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,14.806188,0.0 +latest,Objaskullmodel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,83.467551,0.0 +latest,Objasmokegrenade,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,60.356248,0.0 +latest,Objasoap,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.377426,0.0 +latest,Objaspaceshuttlemodel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,44.81638,0.0 +latest,Objasportsshoe,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,148.420474,0.0 +latest,Objaspringclamp,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,66.804464,0.0 +latest,Objastake,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,35.23256,0.0 +latest,Objastamp,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,61.803375,0.0 +latest,Objastatuette,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,27.165006,0.0 +latest,Objastoragecontainer,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,20.865638,0.0 +latest,Objasugarbowl,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,50.693642,0.0 +latest,Objasunglasses,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,30.632599,0.0 +latest,Objatacticaltool,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.27421,0.0 +latest,Objateacup,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,15.089009,0.0 +latest,Objatelephone,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,34.961458,0.0 +latest,Objatelephonehandset,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,35.37491,0.0 +latest,Objatool,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,77.229344,0.0 +latest,Objatoyblaster,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,37.208576,0.0 +latest,Objavegetable,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,34.581197,0.0 +latest,Objavhstape,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,96.344155,0.0 +latest,Objavideocamera,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,34.117769,0.0 +latest,Objavintagemobilephone,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,25.493549,0.0 +latest,Objawalkietalkie,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,30.054807,0.0 +latest,Objawallcalendar,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,89.800724,0.0 +latest,Objawiresculpture,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,73.806107,0.0 +latest,Soap Dispenser,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,101.801369,66.930753 +latest,Spray Bottle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,52.081497,0.0 +latest,Vase,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,53.101742,0.0 +latest,OVERALL,4,119,3.36,1.37,8.31,4,3.36,1.37,8.31,43.458381,33.208128 diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/submission/run_command.sh b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/submission/run_command.sh new file mode 100644 index 0000000000000000000000000000000000000000..ba2868824102e41e925b4816ae1c70f2abdaf6f2 --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/submission/run_command.sh @@ -0,0 +1,4 @@ +#!/usr/bin/env bash +set -euo pipefail +cd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy +conda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_06 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/submission/shard_06_results.csv b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/submission/shard_06_results.csv new file mode 100644 index 0000000000000000000000000000000000000000..83f7ccf7a00ecd0b761fe7f7939578e921929773 --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/submission/shard_06_results.csv @@ -0,0 +1,113 @@ +# policy_name: latest +# run_path: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815 +# dt: 0.066 +# max_steps: 450 +policy,category,successes,total,success_rate_pct,ci_95_low_pct,ci_95_high_pct,oracle_successes,oracle_rate_pct,oracle_ci_95_low_pct,oracle_ci_95_high_pct,jerk_joint_mean,jerk_joint_std +latest,Bowl,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,87.865928,0.0 +latest,Box,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,30.473414,8.609321 +latest,Bread,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.578375,0.0 +latest,Candle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,32.972592,0.0 +latest,Cookingpan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.926118,0.0 +latest,Cup,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,62.210069,50.015567 +latest,Irishpotato,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,46.543901,0.0 +latest,Knife,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,32.565685,18.273287 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0000000000000000000000000000000000000000..24c1b8650681b05c5a40a1dad3ec8dde5eed5592 --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/running_log.log @@ -0,0 +1,464 @@ +05/26 12:05:16 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 677] +05/26 12:05:16 INFO: Starting house-by-house rollout of 121 houses with 2 episodes each (242 total episodes) using 1 worker processes [pipeline.py: 1279] +05/26 12:05:16 INFO: Evaluation configuration: [pipeline.py: 1286] +05/26 12:05:16 INFO: {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 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'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [54, + 146, + 249, + 356, + 448, + 508, + 576, + 622, + 691, + 732, + 791, + 867, + 939, + 1042, + 1170, + 1234, + 1328, + 1388, + 1504, + 1634, + 1731, + 1778, + 1907, + 2021, + 2041, + 2165, + 2305, + 2384, + 2478, + 2575, + 2681, + 2805, + 2885, + 2978, + 3096, + 3211, + 3269, + 3319, + 3397, + 3462, + 3536, + 3561, + 3647, + 3746, + 3795, + 3924, + 4063, + 4151, + 4234, + 4292, + 4327, + 4349, + 4403, + 4497, + 4623, + 4682, + 4726, + 4802, + 4882, + 4974, + 5097, + 5172, + 5211, + 5388, + 5464, + 5548, + 5618, + 5672, + 5786, + 5898, + 5959, + 6069, + 6144, + 6208, + 6271, + 6325, + 6396, + 6485, + 6492, + 6591, + 6721, + 6788, + 6911, + 6981, + 7030, + 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'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} [pipeline.py: 1287] +05/26 12:05:16 INFO: [Worker 0] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler [pipeline.py: 439] +05/26 12:05:16 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 12:05:16 INFO: [Worker 0] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler [pipeline.py: 445] +05/26 12:05:16 INFO: [Worker 0] Worker 0 starting house 54 (index 0/121) [pipeline.py: 473] +05/26 12:05:16 INFO: [Worker 0] Loaded 1 episodes for house 54 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/26 12:05:16 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 12:05:33 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/26 12:05:37 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_54_ceiling.xml [task_sampler.py: 797] +05/26 12:05:37 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=54, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 12:05:37 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 12:05:37 INFO: [Worker 0] randomize_scene: Setting poses for 76 objects [json_eval_task_sampler.py: 686] +05/26 12:05:38 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 12:05:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 12:05:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 12:05:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 12:05:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 12:05:38 INFO: [Worker 0] Sampled task 'Pick up the white marker with red bands and place it next to the soapdispenser' [task_sampler.py: 1136] +05/26 12:05:38 INFO: [Worker 0] Worker 0 house 54 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 12:05:38 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 12:06:01 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 13:16:53 INFO: [Worker 0] Worker 0 house 54 episode 0 object objamarker_be34b3e0b8e44511b6c3bccb76a472d2_1_0_5 completed with success=False [pipeline.py: 1114] +05/26 13:17:03 INFO: [Worker 0] Batching and saving trajectory data for house_54: 1 episodes [pipeline.py: 233] +05/26 13:17:03 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 13:17:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 13:17:13 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_54 [save_utils.py: 703] +05/26 13:17:13 INFO: [Worker 0] Successfully saved trajectory data for house_54 in 9.93s (batch: 9.75s, save: 0.18s) [pipeline.py: 280] +05/26 13:17:14 WARNING: [Worker 0] No trajectory data to save for house_54 [pipeline.py: 229] +05/26 13:17:14 INFO: [Worker 0] Worker 0 completed house 54: 0/1 successful episodes [pipeline.py: 1243] +05/26 13:17:14 INFO: [Worker 0] Worker 0 starting house 146 (index 1/121) [pipeline.py: 473] +05/26 13:17:14 INFO: [Worker 0] Loaded 1 episodes for house 146 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/26 13:17:14 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 13:17:36 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_146_ceiling.xml [task_sampler.py: 797] +05/26 13:17:36 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=146, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 13:17:36 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 13:17:36 INFO: [Worker 0] randomize_scene: Setting poses for 86 objects [json_eval_task_sampler.py: 686] +05/26 13:17:36 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 13:17:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 13:17:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 13:17:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 13:17:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 13:17:36 INFO: [Worker 0] Sampled task 'Pick up the blue birthday card with fox and rabbit and place it next to the fresh green spherical lettuce' [task_sampler.py: 1136] +05/26 13:17:36 INFO: [Worker 0] Worker 0 house 146 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 13:17:36 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 13:17:36 WARNING: [Worker 0] Could not find object bowl_c594624adbb2b4b72f24e12b1047e7af_1_0_3 in scene [object_manager.py: 1238] +05/26 13:17:36 WARNING: [Worker 0] Could not find object pillow_fbf1529d97d51581a6a35de6b81755c9_1_0_7 in scene [object_manager.py: 1238] +05/26 13:17:36 WARNING: [Worker 0] Could not find object laptop_b7727b77b84280c50b68099ba174d84e_1_0_7 in scene [object_manager.py: 1238] +05/26 13:24:11 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 14:47:00 INFO: [Worker 0] Worker 0 house 146 episode 0 object objagreetingcard_5c7029b2edd248cdafcfd33c93ff1728_1_0_2 completed with success=False [pipeline.py: 1114] +05/26 14:47:07 INFO: [Worker 0] Batching and saving trajectory data for house_146: 1 episodes [pipeline.py: 233] +05/26 14:47:07 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 14:47:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 14:47:13 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_146 [save_utils.py: 703] +05/26 14:47:13 INFO: [Worker 0] Successfully saved trajectory data for house_146 in 6.51s (batch: 6.12s, save: 0.39s) [pipeline.py: 280] +05/26 14:47:14 WARNING: [Worker 0] No trajectory data to save for house_146 [pipeline.py: 229] +05/26 14:47:14 INFO: [Worker 0] Worker 0 completed house 146: 0/1 successful episodes [pipeline.py: 1243] +05/26 14:47:14 INFO: [Worker 0] Worker 0 starting house 249 (index 2/121) [pipeline.py: 473] +05/26 14:47:14 INFO: [Worker 0] Loaded 1 episodes for house 249 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/26 14:47:14 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 14:47:25 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_249_ceiling.xml [task_sampler.py: 797] +05/26 14:47:25 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=249, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 14:47:25 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 14:47:25 INFO: [Worker 0] randomize_scene: Setting poses for 54 objects [json_eval_task_sampler.py: 686] +05/26 14:47:25 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 14:47:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 14:47:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 14:47:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 14:47:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 14:47:25 INFO: [Worker 0] Sampled task 'Pick up the plastic dog bone tag king and place it next to the rectangular dark gray tufted pillow' [task_sampler.py: 1136] +05/26 14:47:25 INFO: [Worker 0] Worker 0 house 249 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 14:47:25 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 14:52:42 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 15:40:03 INFO: [Worker 0] Worker 0 house 249 episode 0 object objapettag_e7120b712b424f1d9607347cf5c4147b_1_0_7 completed with success=False [pipeline.py: 1114] +05/26 15:40:13 INFO: [Worker 0] Batching and saving trajectory data for house_249: 1 episodes [pipeline.py: 233] +05/26 15:40:13 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 15:40:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 15:40:20 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_249 [save_utils.py: 703] +05/26 15:40:20 INFO: [Worker 0] Successfully saved trajectory data for house_249 in 6.82s (batch: 6.60s, save: 0.22s) [pipeline.py: 280] +05/26 15:40:21 WARNING: [Worker 0] No trajectory data to save for house_249 [pipeline.py: 229] +05/26 15:40:21 INFO: [Worker 0] Worker 0 completed house 249: 0/1 successful episodes [pipeline.py: 1243] +05/26 15:40:21 INFO: [Worker 0] Worker 0 starting house 356 (index 3/121) [pipeline.py: 473] +05/26 15:40:21 INFO: [Worker 0] Loaded 1 episodes for house 356 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/26 15:40:21 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 15:40:31 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_356_ceiling.xml [task_sampler.py: 797] +05/26 15:40:31 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=356, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 15:40:31 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 15:40:31 INFO: [Worker 0] randomize_scene: Setting poses for 40 objects [json_eval_task_sampler.py: 686] +05/26 15:40:31 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 15:40:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 15:40:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 15:40:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 15:40:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 15:40:31 INFO: [Worker 0] Sampled task 'Pick up the thin white electronic display showing promotion and place it next to the soft terracotta pillow' [task_sampler.py: 1136] +05/26 15:40:31 INFO: [Worker 0] Worker 0 house 356 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 15:40:31 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 15:46:55 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 16:26:30 INFO: [Worker 0] Worker 0 house 356 episode 0 object objaelectronicdisplay_39fdfa7c14a640b58a5ff5e47a1af37c_1_0_7 completed with success=False [pipeline.py: 1114] +05/26 16:26:39 INFO: [Worker 0] Batching and saving trajectory data for house_356: 1 episodes [pipeline.py: 233] +05/26 16:26:39 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 16:26:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 16:26:45 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_356 [save_utils.py: 703] +05/26 16:26:45 INFO: [Worker 0] Successfully saved trajectory data for house_356 in 5.53s (batch: 5.34s, save: 0.19s) [pipeline.py: 280] +05/26 16:26:47 WARNING: [Worker 0] No trajectory data to save for house_356 [pipeline.py: 229] +05/26 16:26:47 INFO: [Worker 0] Worker 0 completed house 356: 0/1 successful episodes [pipeline.py: 1243] +05/26 16:26:47 INFO: [Worker 0] Worker 0 starting house 448 (index 4/121) [pipeline.py: 473] +05/26 16:26:47 INFO: [Worker 0] Loaded 1 episodes for house 448 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/26 16:26:47 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 16:26:54 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_448_ceiling.xml [task_sampler.py: 797] +05/26 16:26:54 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=448, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 16:26:54 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 16:26:54 INFO: [Worker 0] randomize_scene: Setting poses for 27 objects [json_eval_task_sampler.py: 686] +05/26 16:26:54 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 16:26:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 16:26:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 16:26:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 16:26:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 16:26:54 INFO: [Worker 0] Sampled task 'Pick up the orange whistle with circular windows and place it next to the rustic green layered geological strata' [task_sampler.py: 1136] +05/26 16:26:54 INFO: [Worker 0] Worker 0 house 448 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 16:26:55 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 16:32:55 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 17:16:12 INFO: [Worker 0] Worker 0 house 448 episode 0 object objawhistle_15185d8f02944be2b1b2389c6aeda2d6_1_0_7 completed with success=False [pipeline.py: 1114] +05/26 17:16:22 INFO: [Worker 0] Batching and saving trajectory data for house_448: 1 episodes [pipeline.py: 233] +05/26 17:16:22 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 17:16:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 17:16:32 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_448 [save_utils.py: 703] +05/26 17:16:32 INFO: [Worker 0] Successfully saved trajectory data for house_448 in 9.80s (batch: 9.55s, save: 0.24s) [pipeline.py: 280] +05/26 17:16:33 WARNING: [Worker 0] No trajectory data to save for house_448 [pipeline.py: 229] +05/26 17:16:33 INFO: [Worker 0] Worker 0 completed house 448: 0/1 successful episodes [pipeline.py: 1243] +05/26 17:16:33 INFO: [Worker 0] Worker 0 starting house 508 (index 5/121) [pipeline.py: 473] +05/26 17:16:33 INFO: [Worker 0] Loaded 1 episodes for house 508 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/26 17:16:33 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 17:16:42 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_508_ceiling.xml [task_sampler.py: 797] +05/26 17:16:42 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=508, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 17:16:42 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 17:16:42 INFO: [Worker 0] randomize_scene: Setting poses for 41 objects [json_eval_task_sampler.py: 686] +05/26 17:16:42 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 17:16:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 17:16:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 17:16:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 17:16:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 17:16:42 INFO: [Worker 0] Sampled task 'Pick up the triangular golden chain with links and place it next to the light bracket' [task_sampler.py: 1136] +05/26 17:16:42 INFO: [Worker 0] Worker 0 house 508 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 17:16:43 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 17:22:45 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 18:16:26 INFO: [Worker 0] Worker 0 house 508 episode 0 object objadecorativechain_920dd47d98484df4a23b8dee1b378c6a_1_0_7 completed with success=False [pipeline.py: 1114] +05/26 18:16:33 INFO: [Worker 0] Batching and saving trajectory data for house_508: 1 episodes [pipeline.py: 233] +05/26 18:16:33 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 18:16:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 18:16:38 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_120516/house_508 [save_utils.py: 703] +05/26 18:16:38 INFO: [Worker 0] Successfully saved trajectory data for house_508 in 4.78s (batch: 4.57s, save: 0.21s) [pipeline.py: 280] +05/26 18:16:39 WARNING: [Worker 0] No trajectory data to save for house_508 [pipeline.py: 229] +05/26 18:16:39 INFO: [Worker 0] Worker 0 completed house 508: 0/1 successful episodes [pipeline.py: 1243] +05/26 18:16:39 INFO: [Worker 0] Worker 0 starting house 576 (index 6/121) [pipeline.py: 473] +05/26 18:16:39 INFO: [Worker 0] Loaded 1 episodes for house 576 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/26 18:16:39 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 18:16:57 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_576_ceiling.xml [task_sampler.py: 797] +05/26 18:16:57 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=576, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 18:16:57 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 18:16:57 INFO: [Worker 0] randomize_scene: Setting poses for 50 objects [json_eval_task_sampler.py: 686] +05/26 18:16:57 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 18:16:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 18:16:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 18:16:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 18:16:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 18:16:57 INFO: [Worker 0] Sampled task 'Pick up the tan sandal with block heel straps and place it next to the blue torch' [task_sampler.py: 1136] +05/26 18:16:57 INFO: [Worker 0] Worker 0 house 576 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 18:16:57 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 19:22:52 ERROR: Uncaught exception: [mp_logging.py: 268] +Traceback (most recent call last): + File "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py", line 1066, in + raise SystemExit(main()) + ^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py", line 938, in main + results = run_evaluation( + ^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py", line 690, in run_evaluation + success_count, total_count = runner.run(preloaded_policy=runner_policy) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1467, in run + house_processing_worker( + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/data_generation/pipeline.py", line 483, in house_processing_worker + runner_class.process_single_house( + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1095, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/data_generation/pipeline.py", line 834, in run_single_rollout + observation, reward, terminal, truncated, infos = task.step(action_cmd) + ^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/tasks/task.py", line 351, in step + observation, reward, terminated, truncated, info = self.get_and_cache_all_step_information() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/tasks/task.py", line 202, in get_and_cache_all_step_information + success = np.full(terminated.shape, fill_value=self.judge_success()) + ^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/tasks/pick_and_place_next_to_task.py", line 57, in judge_success + return self.get_info()[0]["success"] + ^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/tasks/pick_and_place_next_to_task.py", line 137, in get_info + p_sup_p = om.approximate_supporting_geoms(pickup_obj.body_id, b2g) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/env/object_manager.py", line 1667, in approximate_supporting_geoms + gpoly, gz, gt = get_geom_box(geom) + ^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/env/object_manager.py", line 1653, in get_geom_box + return make_poly_and_zs(c, e) + ^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/env/object_manager.py", line 1633, in make_poly_and_zs + def make_poly_and_zs(c, e): + +KeyboardInterrupt diff --git a/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/running_log.log b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/running_log.log new file mode 100644 index 0000000000000000000000000000000000000000..7a4b13ee81758e1d52325bf0dda532edae0f44fe --- /dev/null +++ b/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/running_log.log @@ -0,0 +1,3142 @@ +05/26 19:48:16 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 677] +05/26 19:48:16 INFO: Starting house-by-house rollout of 115 houses with 2 episodes each (230 total episodes) using 1 worker processes [pipeline.py: 1279] +05/26 19:48:16 INFO: Evaluation configuration: [pipeline.py: 1286] +05/26 19:48:16 INFO: {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['droid_shoulder_light_randomization', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 'wan_molmobot_franka', + 'obs_camera_name': 'droid_shoulder_light_randomization', + 'obs_image_key': 'rgb_head', + 'obs_state_key': 'robot_state', + 'obs_wrist_camera_name': 'wrist_camera_zed_mini', + 'obs_wrist_image_key': 'rgb_wrist', + 'policy_cls': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [576, + 622, + 691, + 732, + 791, + 867, + 939, + 1042, + 1170, + 1234, + 1328, + 1388, + 1504, + 1634, + 1731, + 1778, + 1907, + 2021, + 2041, + 2165, + 2305, + 2384, + 2478, + 2575, + 2681, + 2805, + 2885, + 2978, + 3096, + 3211, + 3269, + 3319, + 3397, + 3462, + 3536, + 3561, + 3647, + 3746, + 3795, + 3924, + 4063, + 4151, + 4234, + 4292, + 4327, + 4349, + 4403, + 4497, + 4623, + 4682, + 4726, + 4802, + 4882, + 4974, + 5097, + 5172, + 5211, + 5388, + 5464, + 5548, + 5618, + 5672, + 5786, + 5898, + 5959, + 6069, + 6144, + 6208, + 6271, + 6325, + 6396, + 6485, + 6492, + 6591, + 6721, + 6788, + 6911, + 6981, + 7030, + 7097, + 7177, + 7301, + 7348, + 7405, + 7472, + 7569, + 7672, + 7774, + 7857, + 7973, + 8064, + 8136, + 8231, + 8303, + 8388, + 8447, + 8537, + 8643, + 8720, + 8805, + 8881, + 8952, + 9022, + 9087, + 9152, + 9156, + 9234, + 9308, + 9422, + 9496, + 9554, + 9642, + 9719, + 9886, + 9958], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} [pipeline.py: 1287] +05/26 19:48:16 INFO: [Worker 0] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler [pipeline.py: 439] +05/26 19:48:16 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 19:48:16 INFO: [Worker 0] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler [pipeline.py: 445] +05/26 19:48:16 INFO: [Worker 0] Worker 0 starting house 576 (index 0/115) [pipeline.py: 473] +05/26 19:48:16 INFO: [Worker 0] Loaded 1 episodes for house 576 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/26 19:48:16 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 19:48:30 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/26 19:48:34 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_576_ceiling.xml [task_sampler.py: 797] +05/26 19:48:34 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=576, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 19:48:34 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 19:48:34 INFO: [Worker 0] randomize_scene: Setting poses for 50 objects [json_eval_task_sampler.py: 686] +05/26 19:48:34 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 19:48:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 19:48:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 19:48:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 19:48:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 19:48:34 INFO: [Worker 0] Sampled task 'Pick up the tan sandal with block heel straps and place it next to the blue torch' [task_sampler.py: 1136] +05/26 19:48:34 INFO: [Worker 0] Worker 0 house 576 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 19:48:34 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 19:59:43 INFO: [Worker 0] Worker 0 house 576 episode 0 object objasandal_55ac6b700c674f0ba07768f14c80d9d2_1_0_5 completed with success=False [pipeline.py: 1114] +05/26 19:59:47 INFO: [Worker 0] Batching and saving trajectory data for house_576: 1 episodes [pipeline.py: 233] +05/26 19:59:47 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 19:59:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 19:59:49 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_576 [save_utils.py: 703] +05/26 19:59:49 INFO: [Worker 0] Successfully saved trajectory data for house_576 in 2.44s (batch: 2.34s, save: 0.10s) [pipeline.py: 280] +05/26 19:59:50 WARNING: [Worker 0] No trajectory data to save for house_576 [pipeline.py: 229] +05/26 19:59:50 INFO: [Worker 0] Worker 0 completed house 576: 0/1 successful episodes [pipeline.py: 1243] +05/26 19:59:50 INFO: [Worker 0] Worker 0 starting house 622 (index 1/115) [pipeline.py: 473] +05/26 19:59:50 INFO: [Worker 0] Loaded 1 episodes for house 622 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/26 19:59:50 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 20:00:08 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_622_ceiling.xml [task_sampler.py: 797] +05/26 20:00:08 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=622, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 20:00:08 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 20:00:08 INFO: [Worker 0] randomize_scene: Setting poses for 31 objects [json_eval_task_sampler.py: 686] +05/26 20:00:08 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 20:00:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 20:00:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 20:00:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 20:00:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 20:00:08 INFO: [Worker 0] Sampled task 'Pick up the instrumentality and place it next to the red toy van' [task_sampler.py: 1136] +05/26 20:00:08 INFO: [Worker 0] Worker 0 house 622 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 20:00:08 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 20:01:45 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 20:10:43 INFO: [Worker 0] Worker 0 house 622 episode 0 object objapipecutter_9113b144802144b683d8db86f7d7388c_1_0_6 completed with success=False [pipeline.py: 1114] +05/26 20:10:47 INFO: [Worker 0] Batching and saving trajectory data for house_622: 1 episodes [pipeline.py: 233] +05/26 20:10:47 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 20:10:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 20:10:50 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_622 [save_utils.py: 703] +05/26 20:10:50 INFO: [Worker 0] Successfully saved trajectory data for house_622 in 2.85s (batch: 2.75s, save: 0.09s) [pipeline.py: 280] +05/26 20:10:51 WARNING: [Worker 0] No trajectory data to save for house_622 [pipeline.py: 229] +05/26 20:10:51 INFO: [Worker 0] Worker 0 completed house 622: 0/1 successful episodes [pipeline.py: 1243] +05/26 20:10:51 INFO: [Worker 0] Worker 0 starting house 691 (index 2/115) [pipeline.py: 473] +05/26 20:10:51 INFO: [Worker 0] Loaded 1 episodes for house 691 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/26 20:10:51 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 20:10:58 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_691_ceiling.xml [task_sampler.py: 797] +05/26 20:10:58 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=691, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 20:10:58 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 20:10:58 INFO: [Worker 0] randomize_scene: Setting poses for 48 objects [json_eval_task_sampler.py: 686] +05/26 20:10:58 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 20:10:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 20:10:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 20:10:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 20:10:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 20:10:58 INFO: [Worker 0] Sampled task 'Pick up the flat gray metal ring and place it next to the tall white candle in holder' [task_sampler.py: 1136] +05/26 20:10:58 INFO: [Worker 0] Worker 0 house 691 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 20:10:58 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 20:22:34 INFO: [Worker 0] Worker 0 house 691 episode 0 object objawasher_694066aa6e0a46db95f476ad8c951951_1_0_7 completed with success=False [pipeline.py: 1114] +05/26 20:22:38 INFO: [Worker 0] Batching and saving trajectory data for house_691: 1 episodes [pipeline.py: 233] +05/26 20:22:38 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 20:22:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 20:22:40 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_691 [save_utils.py: 703] +05/26 20:22:40 INFO: [Worker 0] Successfully saved trajectory data for house_691 in 2.46s (batch: 2.37s, save: 0.09s) [pipeline.py: 280] +05/26 20:22:41 WARNING: [Worker 0] No trajectory data to save for house_691 [pipeline.py: 229] +05/26 20:22:41 INFO: [Worker 0] Worker 0 completed house 691: 0/1 successful episodes [pipeline.py: 1243] +05/26 20:22:41 INFO: [Worker 0] Worker 0 starting house 732 (index 3/115) [pipeline.py: 473] +05/26 20:22:41 INFO: [Worker 0] Loaded 1 episodes for house 732 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/26 20:22:41 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 20:23:00 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_732_ceiling.xml [task_sampler.py: 797] +05/26 20:23:00 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=732, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 20:23:00 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 20:23:00 INFO: [Worker 0] randomize_scene: Setting poses for 56 objects [json_eval_task_sampler.py: 686] +05/26 20:23:00 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 20:23:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 20:23:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 20:23:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 20:23:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 20:23:00 INFO: [Worker 0] Sampled task 'Pick up the ornate finial and place it next to the colorful purple accordion with keyboard' [task_sampler.py: 1136] +05/26 20:23:00 INFO: [Worker 0] Worker 0 house 732 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 20:23:00 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 20:24:37 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 20:36:32 INFO: [Worker 0] Worker 0 house 732 episode 0 object objafinial_7e55982574974d22863ea0ddb370ffe5_1_0_9 completed with success=False [pipeline.py: 1114] +05/26 20:36:35 INFO: [Worker 0] Batching and saving trajectory data for house_732: 1 episodes [pipeline.py: 233] +05/26 20:36:35 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 20:36:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 20:36:38 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_732 [save_utils.py: 703] +05/26 20:36:38 INFO: [Worker 0] Successfully saved trajectory data for house_732 in 2.46s (batch: 2.37s, save: 0.09s) [pipeline.py: 280] +05/26 20:36:38 WARNING: [Worker 0] No trajectory data to save for house_732 [pipeline.py: 229] +05/26 20:36:38 INFO: [Worker 0] Worker 0 completed house 732: 0/1 successful episodes [pipeline.py: 1243] +05/26 20:36:38 INFO: [Worker 0] Worker 0 starting house 791 (index 4/115) [pipeline.py: 473] +05/26 20:36:38 INFO: [Worker 0] Loaded 1 episodes for house 791 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/26 20:36:38 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 20:37:07 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_791_ceiling.xml [task_sampler.py: 797] +05/26 20:37:07 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=791, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 20:37:07 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 20:37:07 INFO: [Worker 0] randomize_scene: Setting poses for 68 objects [json_eval_task_sampler.py: 686] +05/26 20:37:07 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 20:37:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 20:37:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 20:37:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 20:37:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 20:37:07 INFO: [Worker 0] Sampled task 'Pick up the holographicprojector and place it next to the dark glossy hardcover book' [task_sampler.py: 1136] +05/26 20:37:07 INFO: [Worker 0] Worker 0 house 791 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 20:37:07 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 20:37:07 WARNING: [Worker 0] Could not find object objamarblesculpture_969d17f91b324a6c9e0b1d1f649a1463_1_0_4 in scene [object_manager.py: 1238] +05/26 20:37:07 WARNING: [Worker 0] Could not find object objadecorativespike_518021839cf544f0b89865ab495c885b_1_0_4 in scene [object_manager.py: 1238] +05/26 20:38:35 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 20:52:43 INFO: [Worker 0] Worker 0 house 791 episode 0 object objaholographicprojector_9860e2270f1245698995adce759c187f_1_0_4 completed with success=False [pipeline.py: 1114] +05/26 20:52:46 INFO: [Worker 0] Batching and saving trajectory data for house_791: 1 episodes [pipeline.py: 233] +05/26 20:52:46 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 20:52:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 20:52:49 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_791 [save_utils.py: 703] +05/26 20:52:49 INFO: [Worker 0] Successfully saved trajectory data for house_791 in 2.42s (batch: 2.32s, save: 0.09s) [pipeline.py: 280] +05/26 20:52:49 WARNING: [Worker 0] No trajectory data to save for house_791 [pipeline.py: 229] +05/26 20:52:49 INFO: [Worker 0] Worker 0 completed house 791: 0/1 successful episodes [pipeline.py: 1243] +05/26 20:52:49 INFO: [Worker 0] Worker 0 starting house 867 (index 5/115) [pipeline.py: 473] +05/26 20:52:49 INFO: [Worker 0] Loaded 1 episodes for house 867 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/26 20:52:49 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 20:52:55 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_867_ceiling.xml [task_sampler.py: 797] +05/26 20:52:55 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=867, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 20:52:55 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 20:52:55 INFO: [Worker 0] randomize_scene: Setting poses for 68 objects [json_eval_task_sampler.py: 686] +05/26 20:52:55 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 20:52:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 20:52:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 20:52:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 20:52:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 20:52:55 INFO: [Worker 0] Sampled task 'Pick up the brown blue chocolate package and place it next to the large red tomato' [task_sampler.py: 1136] +05/26 20:52:55 INFO: [Worker 0] Worker 0 house 867 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 20:52:55 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 20:54:41 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 21:09:16 INFO: [Worker 0] Worker 0 house 867 episode 0 object objasnackpackage_943e5e9691ef4f6fb41c851d2892d988_1_0_8 completed with success=False [pipeline.py: 1114] +05/26 21:09:19 INFO: [Worker 0] Batching and saving trajectory data for house_867: 1 episodes [pipeline.py: 233] +05/26 21:09:19 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 21:09:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 21:09:22 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_867 [save_utils.py: 703] +05/26 21:09:22 INFO: [Worker 0] Successfully saved trajectory data for house_867 in 2.41s (batch: 2.32s, save: 0.09s) [pipeline.py: 280] +05/26 21:09:22 WARNING: [Worker 0] No trajectory data to save for house_867 [pipeline.py: 229] +05/26 21:09:22 INFO: [Worker 0] Worker 0 completed house 867: 0/1 successful episodes [pipeline.py: 1243] +05/26 21:09:22 INFO: [Worker 0] Worker 0 starting house 939 (index 6/115) [pipeline.py: 473] +05/26 21:09:22 INFO: [Worker 0] Loaded 1 episodes for house 939 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/26 21:09:22 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 21:09:24 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_939_ceiling.xml [task_sampler.py: 797] +05/26 21:09:24 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=939, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 21:09:24 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 21:09:24 INFO: [Worker 0] randomize_scene: Setting poses for 15 objects [json_eval_task_sampler.py: 686] +05/26 21:09:24 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 21:09:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 21:09:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 21:09:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 21:09:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 21:09:24 INFO: [Worker 0] Sampled task 'Pick up the tall white candlestick and place it next to the vintage light fabric pith helmet' [task_sampler.py: 1136] +05/26 21:09:24 INFO: [Worker 0] Worker 0 house 939 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 21:09:24 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 21:11:02 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 21:17:25 INFO: [Worker 0] Worker 0 house 939 episode 0 object objacandlestick_dba5865de3da40b0bc3482242a32db46_1_0_2 completed with success=False [pipeline.py: 1114] +05/26 21:17:28 INFO: [Worker 0] Batching and saving trajectory data for house_939: 1 episodes [pipeline.py: 233] +05/26 21:17:28 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 21:17:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 21:17:31 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_939 [save_utils.py: 703] +05/26 21:17:31 INFO: [Worker 0] Successfully saved trajectory data for house_939 in 2.69s (batch: 2.60s, save: 0.09s) [pipeline.py: 280] +05/26 21:17:32 WARNING: [Worker 0] No trajectory data to save for house_939 [pipeline.py: 229] +05/26 21:17:32 INFO: [Worker 0] Worker 0 completed house 939: 0/1 successful episodes [pipeline.py: 1243] +05/26 21:17:32 INFO: [Worker 0] Worker 0 starting house 1042 (index 7/115) [pipeline.py: 473] +05/26 21:17:32 INFO: [Worker 0] Loaded 1 episodes for house 1042 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/26 21:17:32 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 21:17:57 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1042_ceiling.xml [task_sampler.py: 797] +05/26 21:17:57 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1042, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 21:17:57 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 21:17:57 INFO: [Worker 0] randomize_scene: Setting poses for 40 objects [json_eval_task_sampler.py: 686] +05/26 21:17:57 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 21:17:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 21:17:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 21:17:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 21:17:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 21:17:57 INFO: [Worker 0] Sampled task 'Pick up the hand mirror and place it next to the glossy russian doll with flowers' [task_sampler.py: 1136] +05/26 21:17:57 INFO: [Worker 0] Worker 0 house 1042 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 21:17:57 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 21:32:23 INFO: [Worker 0] Worker 0 house 1042 episode 0 object objahandheldmirror_2244842d4ea94f81aa5f222d891b60da_1_0_7 completed with success=False [pipeline.py: 1114] +05/26 21:32:27 INFO: [Worker 0] Batching and saving trajectory data for house_1042: 1 episodes [pipeline.py: 233] +05/26 21:32:27 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 21:32:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 21:32:30 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1042 [save_utils.py: 703] +05/26 21:32:30 INFO: [Worker 0] Successfully saved trajectory data for house_1042 in 2.85s (batch: 2.76s, save: 0.09s) [pipeline.py: 280] +05/26 21:32:31 WARNING: [Worker 0] No trajectory data to save for house_1042 [pipeline.py: 229] +05/26 21:32:31 INFO: [Worker 0] Worker 0 completed house 1042: 0/1 successful episodes [pipeline.py: 1243] +05/26 21:32:31 INFO: [Worker 0] Worker 0 starting house 1170 (index 8/115) [pipeline.py: 473] +05/26 21:32:31 INFO: [Worker 0] Loaded 1 episodes for house 1170 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/26 21:32:31 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 21:32:59 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1170_ceiling.xml [task_sampler.py: 797] +05/26 21:32:59 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1170, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 21:32:59 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 21:32:59 INFO: [Worker 0] randomize_scene: Setting poses for 57 objects [json_eval_task_sampler.py: 686] +05/26 21:32:59 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 21:32:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 21:32:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 21:32:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 21:32:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 21:32:59 INFO: [Worker 0] Sampled task 'Pick up the rugged green tactical mask with goggles and place it next to the glossy blue hexagonal emblem with letters' [task_sampler.py: 1136] +05/26 21:32:59 INFO: [Worker 0] Worker 0 house 1170 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 21:32:59 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 21:34:37 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 21:45:58 INFO: [Worker 0] Worker 0 house 1170 episode 0 object objatacticalmask_2ae79f9bdbba41a0a80e4bc0f8bfe95f_1_0_5 completed with success=False [pipeline.py: 1114] +05/26 21:46:02 INFO: [Worker 0] Batching and saving trajectory data for house_1170: 1 episodes [pipeline.py: 233] +05/26 21:46:02 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 21:46:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 21:46:05 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1170 [save_utils.py: 703] +05/26 21:46:05 INFO: [Worker 0] Successfully saved trajectory data for house_1170 in 2.76s (batch: 2.67s, save: 0.09s) [pipeline.py: 280] +05/26 21:46:05 WARNING: [Worker 0] No trajectory data to save for house_1170 [pipeline.py: 229] +05/26 21:46:05 INFO: [Worker 0] Worker 0 completed house 1170: 0/1 successful episodes [pipeline.py: 1243] +05/26 21:46:05 INFO: [Worker 0] Worker 0 starting house 1234 (index 9/115) [pipeline.py: 473] +05/26 21:46:05 INFO: [Worker 0] Loaded 1 episodes for house 1234 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/26 21:46:05 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 21:46:07 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1234_ceiling.xml [task_sampler.py: 797] +05/26 21:46:07 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1234, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 21:46:07 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 21:46:07 INFO: [Worker 0] randomize_scene: Setting poses for 12 objects [json_eval_task_sampler.py: 686] +05/26 21:46:07 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 21:46:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 21:46:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 21:46:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 21:46:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 21:46:07 INFO: [Worker 0] Sampled task 'Pick up the instrumentation and place it next to the vintage minerva stopwatch beige' [task_sampler.py: 1136] +05/26 21:46:07 INFO: [Worker 0] Worker 0 house 1234 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 21:46:07 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 21:47:37 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 21:52:33 INFO: [Worker 0] Worker 0 house 1234 episode 0 object objastopwatch_4612fc5b499945118127b5b874f93a3d_1_0_2 completed with success=False [pipeline.py: 1114] +05/26 21:52:36 INFO: [Worker 0] Batching and saving trajectory data for house_1234: 1 episodes [pipeline.py: 233] +05/26 21:52:36 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 21:52:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 21:52:39 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1234 [save_utils.py: 703] +05/26 21:52:39 INFO: [Worker 0] Successfully saved trajectory data for house_1234 in 2.40s (batch: 2.31s, save: 0.09s) [pipeline.py: 280] +05/26 21:52:39 WARNING: [Worker 0] No trajectory data to save for house_1234 [pipeline.py: 229] +05/26 21:52:39 INFO: [Worker 0] Worker 0 completed house 1234: 0/1 successful episodes [pipeline.py: 1243] +05/26 21:52:39 INFO: [Worker 0] Worker 0 starting house 1328 (index 10/115) [pipeline.py: 473] +05/26 21:52:39 INFO: [Worker 0] Loaded 1 episodes for house 1328 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/26 21:52:39 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 21:52:44 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1328_ceiling.xml [task_sampler.py: 797] +05/26 21:52:44 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1328, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 21:52:44 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 21:52:44 INFO: [Worker 0] randomize_scene: Setting poses for 54 objects [json_eval_task_sampler.py: 686] +05/26 21:52:44 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 21:52:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 21:52:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 21:52:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 21:52:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 21:52:44 INFO: [Worker 0] Sampled task 'Pick up the blue and silver logo plaque and place it next to the green hardcover book titled the effective engineer' [task_sampler.py: 1136] +05/26 21:52:44 INFO: [Worker 0] Worker 0 house 1328 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 21:52:44 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 21:54:11 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 22:03:55 INFO: [Worker 0] Worker 0 house 1328 episode 0 object objalogoplaque_3debec4b2b6e4fc1b072828dbbdddac3_1_0_7 completed with success=False [pipeline.py: 1114] +05/26 22:03:58 INFO: [Worker 0] Batching and saving trajectory data for house_1328: 1 episodes [pipeline.py: 233] +05/26 22:03:58 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 22:04:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 22:04:01 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1328 [save_utils.py: 703] +05/26 22:04:01 INFO: [Worker 0] Successfully saved trajectory data for house_1328 in 2.46s (batch: 2.37s, save: 0.09s) [pipeline.py: 280] +05/26 22:04:01 WARNING: [Worker 0] No trajectory data to save for house_1328 [pipeline.py: 229] +05/26 22:04:01 INFO: [Worker 0] Worker 0 completed house 1328: 0/1 successful episodes [pipeline.py: 1243] +05/26 22:04:01 INFO: [Worker 0] Worker 0 starting house 1388 (index 11/115) [pipeline.py: 473] +05/26 22:04:01 INFO: [Worker 0] Loaded 1 episodes for house 1388 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/26 22:04:01 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 22:04:42 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1388_ceiling.xml [task_sampler.py: 797] +05/26 22:04:42 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1388, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 22:04:42 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 22:04:42 INFO: [Worker 0] randomize_scene: Setting poses for 92 objects [json_eval_task_sampler.py: 686] +05/26 22:04:42 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 22:04:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 22:04:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 22:04:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 22:04:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 22:04:42 INFO: [Worker 0] Sampled task 'Pick up the geometric brown acorn shape and place it next to the slim blue phone device' [task_sampler.py: 1136] +05/26 22:04:42 INFO: [Worker 0] Worker 0 house 1388 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 22:04:42 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 22:04:42 WARNING: [Worker 0] Could not find object objadecorativelighthouse_e8bb24878c544adcb484f431f4c9790e_1_0_5 in scene [object_manager.py: 1238] +05/26 22:04:42 WARNING: [Worker 0] Could not find object objapendantnecklace_11a5d7ca6f1e43a2a8ee668935acfb1e_1_0_5 in scene [object_manager.py: 1238] +05/26 22:06:12 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 22:23:04 INFO: [Worker 0] Worker 0 house 1388 episode 0 object objaacorn_421068a9395b496fa86c81792c20adc8_1_0_2 completed with success=False [pipeline.py: 1114] +05/26 22:23:08 INFO: [Worker 0] Batching and saving trajectory data for house_1388: 1 episodes [pipeline.py: 233] +05/26 22:23:08 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 22:23:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 22:23:11 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1388 [save_utils.py: 703] +05/26 22:23:11 INFO: [Worker 0] Successfully saved trajectory data for house_1388 in 2.79s (batch: 2.70s, save: 0.09s) [pipeline.py: 280] +05/26 22:23:12 WARNING: [Worker 0] No trajectory data to save for house_1388 [pipeline.py: 229] +05/26 22:23:12 INFO: [Worker 0] Worker 0 completed house 1388: 0/1 successful episodes [pipeline.py: 1243] +05/26 22:23:12 INFO: [Worker 0] Worker 0 starting house 1504 (index 12/115) [pipeline.py: 473] +05/26 22:23:12 INFO: [Worker 0] Loaded 1 episodes for house 1504 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/26 22:23:12 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 22:23:16 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1504_ceiling.xml [task_sampler.py: 797] +05/26 22:23:16 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1504, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 22:23:16 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 22:23:16 INFO: [Worker 0] randomize_scene: Setting poses for 68 objects [json_eval_task_sampler.py: 686] +05/26 22:23:16 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 22:23:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 22:23:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 22:23:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 22:23:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 22:23:16 INFO: [Worker 0] Sampled task 'Pick up the wooden mechanical clock with visible gears and place it next to the small wooden orange sailboat' [task_sampler.py: 1136] +05/26 22:23:16 INFO: [Worker 0] Worker 0 house 1504 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 22:23:17 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 22:23:17 WARNING: [Worker 0] Could not find object objadentures_db38ff23dc534a8c8d27a1107904ef94_1_0_5 in scene [object_manager.py: 1238] +05/26 22:23:17 WARNING: [Worker 0] Could not find object objatoiletpaperroll_e1cf65984fff46168396e0b74861f845_1_0_5 in scene [object_manager.py: 1238] +05/26 22:24:55 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 22:40:10 INFO: [Worker 0] Worker 0 house 1504 episode 0 object objamechanicalclock_e34eebdd4ac04f8eb273cdbff5bea846_1_0_8 completed with success=False [pipeline.py: 1114] +05/26 22:40:14 INFO: [Worker 0] Batching and saving trajectory data for house_1504: 1 episodes [pipeline.py: 233] +05/26 22:40:14 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 22:40:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 22:40:16 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1504 [save_utils.py: 703] +05/26 22:40:16 INFO: [Worker 0] Successfully saved trajectory data for house_1504 in 2.81s (batch: 2.72s, save: 0.10s) [pipeline.py: 280] +05/26 22:40:17 WARNING: [Worker 0] No trajectory data to save for house_1504 [pipeline.py: 229] +05/26 22:40:17 INFO: [Worker 0] Worker 0 completed house 1504: 0/1 successful episodes [pipeline.py: 1243] +05/26 22:40:17 INFO: [Worker 0] Worker 0 starting house 1634 (index 13/115) [pipeline.py: 473] +05/26 22:40:17 INFO: [Worker 0] Loaded 1 episodes for house 1634 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/26 22:40:17 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 22:40:23 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1634_ceiling.xml [task_sampler.py: 797] +05/26 22:40:23 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1634, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 22:40:23 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 22:40:23 INFO: [Worker 0] randomize_scene: Setting poses for 79 objects [json_eval_task_sampler.py: 686] +05/26 22:40:23 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 22:40:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 22:40:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 22:40:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 22:40:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 22:40:23 INFO: [Worker 0] Sampled task 'Pick up the glossy green prism with dog and place it next to the translucent plastic ergonomic spray bottle' [task_sampler.py: 1136] +05/26 22:40:23 INFO: [Worker 0] Worker 0 house 1634 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 22:40:23 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 22:40:23 WARNING: [Worker 0] Could not find object vase_485850bef5e28630dd1156aaec2e3528_1_0_7 in scene [object_manager.py: 1238] +05/26 22:57:54 INFO: [Worker 0] Worker 0 house 1634 episode 0 object objaphotoblock_4d5340816228455a944a36753b977425_1_0_2 completed with success=False [pipeline.py: 1114] +05/26 22:57:57 INFO: [Worker 0] Batching and saving trajectory data for house_1634: 1 episodes [pipeline.py: 233] +05/26 22:57:57 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 22:58:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 22:58:00 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1634 [save_utils.py: 703] +05/26 22:58:00 INFO: [Worker 0] Successfully saved trajectory data for house_1634 in 2.51s (batch: 2.41s, save: 0.09s) [pipeline.py: 280] +05/26 22:58:01 WARNING: [Worker 0] No trajectory data to save for house_1634 [pipeline.py: 229] +05/26 22:58:01 INFO: [Worker 0] Worker 0 completed house 1634: 0/1 successful episodes [pipeline.py: 1243] +05/26 22:58:01 INFO: [Worker 0] Worker 0 starting house 1731 (index 14/115) [pipeline.py: 473] +05/26 22:58:01 INFO: [Worker 0] Loaded 1 episodes for house 1731 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/26 22:58:01 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 22:58:16 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1731_ceiling.xml [task_sampler.py: 797] +05/26 22:58:16 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1731, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 22:58:16 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 22:58:16 INFO: [Worker 0] randomize_scene: Setting poses for 20 objects [json_eval_task_sampler.py: 686] +05/26 22:58:16 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 22:58:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 22:58:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 22:58:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 22:58:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 22:58:16 INFO: [Worker 0] Sampled task 'Pick up the realistic human hand and place it next to the shallow blue-gray metal frying pan' [task_sampler.py: 1136] +05/26 22:58:16 INFO: [Worker 0] Worker 0 house 1731 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 22:58:16 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 22:58:16 WARNING: [Worker 0] Could not find object lettuce_58a2d909109c9f3ccdc7e7da4e8d0d5c_1_0_2 in scene [object_manager.py: 1238] +05/26 22:59:53 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 23:04:52 INFO: [Worker 0] Worker 0 house 1731 episode 0 object objahumanhandmodel_8fb51276bf0e42fca8a554c2e2ea687e_1_0_2 completed with success=False [pipeline.py: 1114] +05/26 23:04:56 INFO: [Worker 0] Batching and saving trajectory data for house_1731: 1 episodes [pipeline.py: 233] +05/26 23:04:56 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 23:04:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 23:04:58 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1731 [save_utils.py: 703] +05/26 23:04:58 INFO: [Worker 0] Successfully saved trajectory data for house_1731 in 2.40s (batch: 2.31s, save: 0.09s) [pipeline.py: 280] +05/26 23:04:59 WARNING: [Worker 0] No trajectory data to save for house_1731 [pipeline.py: 229] +05/26 23:04:59 INFO: [Worker 0] Worker 0 completed house 1731: 0/1 successful episodes [pipeline.py: 1243] +05/26 23:04:59 INFO: [Worker 0] Worker 0 starting house 1778 (index 15/115) [pipeline.py: 473] +05/26 23:04:59 INFO: [Worker 0] Loaded 1 episodes for house 1778 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/26 23:04:59 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 23:05:22 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1778_ceiling.xml [task_sampler.py: 797] +05/26 23:05:22 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1778, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 23:05:22 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 23:05:22 INFO: [Worker 0] randomize_scene: Setting poses for 18 objects [json_eval_task_sampler.py: 686] +05/26 23:05:22 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 23:05:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 23:05:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 23:05:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 23:05:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 23:05:22 INFO: [Worker 0] Sampled task 'Pick up the medium dark metal pot and place it next to the nutrient' [task_sampler.py: 1136] +05/26 23:05:22 INFO: [Worker 0] Worker 0 house 1778 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 23:05:22 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 23:06:58 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 23:08:10 INFO: [Worker 0] Worker 0 house 1778 episode 0 object pot_3f96121c2844b96ea193d53feeb1602e_1_0_2 completed with success=False [pipeline.py: 1114] +05/26 23:08:14 INFO: [Worker 0] Batching and saving trajectory data for house_1778: 1 episodes [pipeline.py: 233] +05/26 23:08:14 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 23:08:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 23:08:17 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1778 [save_utils.py: 703] +05/26 23:08:17 INFO: [Worker 0] Successfully saved trajectory data for house_1778 in 2.68s (batch: 2.60s, save: 0.09s) [pipeline.py: 280] +05/26 23:08:17 WARNING: [Worker 0] No trajectory data to save for house_1778 [pipeline.py: 229] +05/26 23:08:17 INFO: [Worker 0] Worker 0 completed house 1778: 0/1 successful episodes [pipeline.py: 1243] +05/26 23:08:17 INFO: [Worker 0] Worker 0 starting house 1907 (index 16/115) [pipeline.py: 473] +05/26 23:08:17 INFO: [Worker 0] Loaded 1 episodes for house 1907 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/26 23:08:17 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 23:08:29 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_1907_ceiling.xml [task_sampler.py: 797] +05/26 23:08:29 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1907, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 23:08:29 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 23:08:29 INFO: [Worker 0] randomize_scene: Setting poses for 94 objects [json_eval_task_sampler.py: 686] +05/26 23:08:29 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 23:08:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 23:08:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 23:08:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 23:08:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 23:08:29 INFO: [Worker 0] Sampled task 'Pick up the detailed crucifix with figure and place it next to the laptop' [task_sampler.py: 1136] +05/26 23:08:29 INFO: [Worker 0] Worker 0 house 1907 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 23:08:29 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 23:26:58 INFO: [Worker 0] Worker 0 house 1907 episode 0 object objacrucifix_66cef9006e22443089458c6c5d990855_1_0_6 completed with success=False [pipeline.py: 1114] +05/26 23:27:02 INFO: [Worker 0] Batching and saving trajectory data for house_1907: 1 episodes [pipeline.py: 233] +05/26 23:27:02 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 23:27:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 23:27:04 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_1907 [save_utils.py: 703] +05/26 23:27:04 INFO: [Worker 0] Successfully saved trajectory data for house_1907 in 2.46s (batch: 2.37s, save: 0.09s) [pipeline.py: 280] +05/26 23:27:05 WARNING: [Worker 0] No trajectory data to save for house_1907 [pipeline.py: 229] +05/26 23:27:05 INFO: [Worker 0] Worker 0 completed house 1907: 0/1 successful episodes [pipeline.py: 1243] +05/26 23:27:05 INFO: [Worker 0] Worker 0 starting house 2021 (index 17/115) [pipeline.py: 473] +05/26 23:27:05 INFO: [Worker 0] Loaded 1 episodes for house 2021 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/26 23:27:05 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 23:27:08 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2021_ceiling.xml [task_sampler.py: 797] +05/26 23:27:08 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2021, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 23:27:08 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 23:27:08 INFO: [Worker 0] randomize_scene: Setting poses for 55 objects [json_eval_task_sampler.py: 686] +05/26 23:27:08 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 23:27:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 23:27:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 23:27:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 23:27:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 23:27:08 INFO: [Worker 0] Sampled task 'Pick up the tissue paper and place it next to the round orange pumpkin with curved stem' [task_sampler.py: 1136] +05/26 23:27:08 INFO: [Worker 0] Worker 0 house 2021 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 23:27:08 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 23:28:45 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 23:41:09 INFO: [Worker 0] Worker 0 house 2021 episode 0 object objatoiletpaperroll_e1cf65984fff46168396e0b74861f845_1_0_5 completed with success=False [pipeline.py: 1114] +05/26 23:41:12 INFO: [Worker 0] Batching and saving trajectory data for house_2021: 1 episodes [pipeline.py: 233] +05/26 23:41:12 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 23:41:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 23:41:15 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2021 [save_utils.py: 703] +05/26 23:41:15 INFO: [Worker 0] Successfully saved trajectory data for house_2021 in 2.68s (batch: 2.59s, save: 0.09s) [pipeline.py: 280] +05/26 23:41:16 WARNING: [Worker 0] No trajectory data to save for house_2021 [pipeline.py: 229] +05/26 23:41:16 INFO: [Worker 0] Worker 0 completed house 2021: 0/1 successful episodes [pipeline.py: 1243] +05/26 23:41:16 INFO: [Worker 0] Worker 0 starting house 2041 (index 18/115) [pipeline.py: 473] +05/26 23:41:16 INFO: [Worker 0] Loaded 1 episodes for house 2041 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/26 23:41:16 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 23:41:36 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2041_ceiling.xml [task_sampler.py: 797] +05/26 23:41:36 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2041, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 23:41:36 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 23:41:36 INFO: [Worker 0] randomize_scene: Setting poses for 53 objects [json_eval_task_sampler.py: 686] +05/26 23:41:36 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 23:41:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 23:41:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 23:41:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 23:41:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 23:41:36 INFO: [Worker 0] Sampled task 'Pick up the vintage wooden corkscrew with lever and place it next to the gray moon' [task_sampler.py: 1136] +05/26 23:41:36 INFO: [Worker 0] Worker 0 house 2041 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 23:41:36 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 23:43:11 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/26 23:54:30 INFO: [Worker 0] Worker 0 house 2041 episode 0 object objacorkscrew_dd933eddfb3d4750b7e448c06b4f5b9b_1_0_4 completed with success=False [pipeline.py: 1114] +05/26 23:54:33 INFO: [Worker 0] Batching and saving trajectory data for house_2041: 1 episodes [pipeline.py: 233] +05/26 23:54:33 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/26 23:54:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/26 23:54:36 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2041 [save_utils.py: 703] +05/26 23:54:36 INFO: [Worker 0] Successfully saved trajectory data for house_2041 in 2.37s (batch: 2.28s, save: 0.09s) [pipeline.py: 280] +05/26 23:54:36 WARNING: [Worker 0] No trajectory data to save for house_2041 [pipeline.py: 229] +05/26 23:54:36 INFO: [Worker 0] Worker 0 completed house 2041: 0/1 successful episodes [pipeline.py: 1243] +05/26 23:54:36 INFO: [Worker 0] Worker 0 starting house 2165 (index 19/115) [pipeline.py: 473] +05/26 23:54:36 INFO: [Worker 0] Loaded 1 episodes for house 2165 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/26 23:54:36 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/26 23:57:48 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/26 23:57:52 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2165_ceiling.xml [task_sampler.py: 797] +05/26 23:57:52 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2165, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/26 23:57:52 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/26 23:57:52 INFO: [Worker 0] randomize_scene: Setting poses for 87 objects [json_eval_task_sampler.py: 686] +05/26 23:57:52 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/26 23:57:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/26 23:57:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/26 23:57:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/26 23:57:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/26 23:57:52 INFO: [Worker 0] Sampled task 'Pick up the yellow device with antenna and eye symbol and place it next to the medium brown cardboard box open' [task_sampler.py: 1136] +05/26 23:57:52 INFO: [Worker 0] Worker 0 house 2165 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/26 23:57:52 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/26 23:57:52 WARNING: [Worker 0] Could not find object objaceilingpanel_8bde878be8dd4fb7b6914db9c4dd31bb_1_0_6 in scene [object_manager.py: 1238] +05/26 23:59:25 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 00:13:41 INFO: [Worker 0] Worker 0 house 2165 episode 0 object objadecorativedevice_c866460d8cbc436b80b31c7eefb6d2d1_1_0_3 completed with success=False [pipeline.py: 1114] +05/27 00:13:44 INFO: [Worker 0] Batching and saving trajectory data for house_2165: 1 episodes [pipeline.py: 233] +05/27 00:13:44 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 00:13:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 00:13:47 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2165 [save_utils.py: 703] +05/27 00:13:47 INFO: [Worker 0] Successfully saved trajectory data for house_2165 in 2.43s (batch: 2.34s, save: 0.09s) [pipeline.py: 280] +05/27 00:13:47 WARNING: [Worker 0] No trajectory data to save for house_2165 [pipeline.py: 229] +05/27 00:13:47 INFO: [Worker 0] Worker 0 completed house 2165: 0/1 successful episodes [pipeline.py: 1243] +05/27 00:13:47 INFO: [Worker 0] Worker 0 starting house 2305 (index 20/115) [pipeline.py: 473] +05/27 00:13:47 INFO: [Worker 0] Loaded 1 episodes for house 2305 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 00:13:47 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 00:16:59 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2305_ceiling.xml [task_sampler.py: 797] +05/27 00:16:59 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2305, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 00:16:59 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 00:16:59 INFO: [Worker 0] randomize_scene: Setting poses for 87 objects [json_eval_task_sampler.py: 686] +05/27 00:16:59 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 00:16:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 00:16:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 00:16:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 00:16:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 00:16:59 INFO: [Worker 0] Sampled task 'Pick up the golden knight chess piece on base and place it next to the glossy black dog' [task_sampler.py: 1136] +05/27 00:16:59 INFO: [Worker 0] Worker 0 house 2305 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 00:16:59 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 00:35:36 INFO: [Worker 0] Worker 0 house 2305 episode 0 object objachesspiece_3e28ace90e6f43efaf5e4a19e8bd9cad_1_0_3 completed with success=False [pipeline.py: 1114] +05/27 00:35:40 INFO: [Worker 0] Batching and saving trajectory data for house_2305: 1 episodes [pipeline.py: 233] +05/27 00:35:40 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 00:35:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 00:35:43 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2305 [save_utils.py: 703] +05/27 00:35:43 INFO: [Worker 0] Successfully saved trajectory data for house_2305 in 2.72s (batch: 2.63s, save: 0.09s) [pipeline.py: 280] +05/27 00:35:43 WARNING: [Worker 0] No trajectory data to save for house_2305 [pipeline.py: 229] +05/27 00:35:43 INFO: [Worker 0] Worker 0 completed house 2305: 0/1 successful episodes [pipeline.py: 1243] +05/27 00:35:43 INFO: [Worker 0] Worker 0 starting house 2384 (index 21/115) [pipeline.py: 473] +05/27 00:35:43 INFO: [Worker 0] Loaded 1 episodes for house 2384 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 00:35:43 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 00:35:50 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2384_ceiling.xml [task_sampler.py: 797] +05/27 00:35:50 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2384, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 00:35:50 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 00:35:50 INFO: [Worker 0] randomize_scene: Setting poses for 29 objects [json_eval_task_sampler.py: 686] +05/27 00:35:50 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 00:35:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 00:35:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 00:35:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 00:35:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 00:35:50 INFO: [Worker 0] Sampled task 'Pick up the colorful rubik's cube and place it next to the realistic human hand' [task_sampler.py: 1136] +05/27 00:35:50 INFO: [Worker 0] Worker 0 house 2384 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 00:35:50 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 00:37:29 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 00:44:01 INFO: [Worker 0] Worker 0 house 2384 episode 0 object objapuzzletoy_ff1c335452a24bdbb6e09d3443288085_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 00:44:04 INFO: [Worker 0] Batching and saving trajectory data for house_2384: 1 episodes [pipeline.py: 233] +05/27 00:44:04 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 00:44:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 00:44:07 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2384 [save_utils.py: 703] +05/27 00:44:07 INFO: [Worker 0] Successfully saved trajectory data for house_2384 in 2.69s (batch: 2.61s, save: 0.09s) [pipeline.py: 280] +05/27 00:44:08 WARNING: [Worker 0] No trajectory data to save for house_2384 [pipeline.py: 229] +05/27 00:44:08 INFO: [Worker 0] Worker 0 completed house 2384: 0/1 successful episodes [pipeline.py: 1243] +05/27 00:44:08 INFO: [Worker 0] Worker 0 starting house 2478 (index 22/115) [pipeline.py: 473] +05/27 00:44:08 INFO: [Worker 0] Loaded 1 episodes for house 2478 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 00:44:08 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 00:44:23 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2478_ceiling.xml [task_sampler.py: 797] +05/27 00:44:23 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2478, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 00:44:23 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 00:44:23 INFO: [Worker 0] randomize_scene: Setting poses for 35 objects [json_eval_task_sampler.py: 686] +05/27 00:44:23 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 00:44:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 00:44:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 00:44:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 00:44:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 00:44:23 INFO: [Worker 0] Sampled task 'Pick up the heavy-duty metal shackle and place it next to the gray pyramid die with turquoise numbers' [task_sampler.py: 1136] +05/27 00:44:23 INFO: [Worker 0] Worker 0 house 2478 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 00:44:23 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 00:44:23 WARNING: [Worker 0] Could not find object objagluebottle_8f91c8457fec4204a76dad9b5fd9d0df_1_0_6 in scene [object_manager.py: 1238] +05/27 00:44:23 WARNING: [Worker 0] Could not find object plate_ac6a1b74f35572c9a1a82922f273449a_1_0_6 in scene [object_manager.py: 1238] +05/27 00:44:23 WARNING: [Worker 0] Could not find object objahandheldtool_a4d19db995b5462ebf75c3d9aa9c8d25_1_0_7 in scene [object_manager.py: 1238] +05/27 00:44:23 WARNING: [Worker 0] Could not find object plate_99ade04d632d7c28dd28877c7fb44406_1_0_7 in scene [object_manager.py: 1238] +05/27 00:46:03 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 00:54:46 INFO: [Worker 0] Worker 0 house 2478 episode 0 object objashackle_f04582e626ee4b09b5b870a2730d12b7_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 00:54:49 INFO: [Worker 0] Batching and saving trajectory data for house_2478: 1 episodes [pipeline.py: 233] +05/27 00:54:49 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 00:54:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 00:54:52 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2478 [save_utils.py: 703] +05/27 00:54:52 INFO: [Worker 0] Successfully saved trajectory data for house_2478 in 2.42s (batch: 2.33s, save: 0.09s) [pipeline.py: 280] +05/27 00:54:52 WARNING: [Worker 0] No trajectory data to save for house_2478 [pipeline.py: 229] +05/27 00:54:52 INFO: [Worker 0] Worker 0 completed house 2478: 0/1 successful episodes [pipeline.py: 1243] +05/27 00:54:52 INFO: [Worker 0] Worker 0 starting house 2575 (index 23/115) [pipeline.py: 473] +05/27 00:54:52 INFO: [Worker 0] Loaded 1 episodes for house 2575 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 00:54:52 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 00:55:59 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2575_ceiling.xml [task_sampler.py: 797] +05/27 00:55:59 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2575, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 00:55:59 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 00:55:59 INFO: [Worker 0] randomize_scene: Setting poses for 102 objects [json_eval_task_sampler.py: 686] +05/27 00:55:59 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 00:55:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 00:55:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 00:55:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 00:55:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 00:55:59 INFO: [Worker 0] Sampled task 'Pick up the green grenade with metal lever and base and place it next to the gray rectangular ethernet transceiver' [task_sampler.py: 1136] +05/27 00:55:59 INFO: [Worker 0] Worker 0 house 2575 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 00:55:59 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 00:55:59 WARNING: [Worker 0] Could not find object objalantern_4cdb208ff30a4e5493f73fef6246604d_2_0_5 in scene [object_manager.py: 1238] +05/27 00:55:59 WARNING: [Worker 0] Could not find object candle_1b82c5d62bcdb9c9e0fbc639fdc9e22a_1_0_5 in scene [object_manager.py: 1238] +05/27 00:55:59 WARNING: [Worker 0] Could not find object objaclaytablet_6f3cd26177eb4f679f06286bb6a2f304_1_0_9 in scene [object_manager.py: 1238] +05/27 00:55:59 WARNING: [Worker 0] Could not find object objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_9 in scene [object_manager.py: 1238] +05/27 01:16:50 INFO: [Worker 0] Worker 0 house 2575 episode 0 object objareplica_3a16fc6248a24c6787de8c5ffe4357a5_1_0_4 completed with success=False [pipeline.py: 1114] +05/27 01:16:54 INFO: [Worker 0] Batching and saving trajectory data for house_2575: 1 episodes [pipeline.py: 233] +05/27 01:16:54 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 01:16:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 01:16:56 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2575 [save_utils.py: 703] +05/27 01:16:56 INFO: [Worker 0] Successfully saved trajectory data for house_2575 in 2.50s (batch: 2.41s, save: 0.09s) [pipeline.py: 280] +05/27 01:16:57 WARNING: [Worker 0] No trajectory data to save for house_2575 [pipeline.py: 229] +05/27 01:16:57 INFO: [Worker 0] Worker 0 completed house 2575: 0/1 successful episodes [pipeline.py: 1243] +05/27 01:16:57 INFO: [Worker 0] Worker 0 starting house 2681 (index 24/115) [pipeline.py: 473] +05/27 01:16:57 INFO: [Worker 0] Loaded 1 episodes for house 2681 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 01:16:57 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 01:17:05 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2681_ceiling.xml [task_sampler.py: 797] +05/27 01:17:05 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2681, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 01:17:05 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 01:17:05 INFO: [Worker 0] randomize_scene: Setting poses for 52 objects [json_eval_task_sampler.py: 686] +05/27 01:17:05 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 01:17:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 01:17:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 01:17:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 01:17:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 01:17:05 INFO: [Worker 0] Sampled task 'Pick up the knurled metal cylinder silencer and place it next to the blue soap bottle' [task_sampler.py: 1136] +05/27 01:17:05 INFO: [Worker 0] Worker 0 house 2681 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 01:17:05 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 01:17:05 WARNING: [Worker 0] Could not find object objaguitareffectspedal_083eb9b9eb564701820d3a79377c77ce_1_0_5 in scene [object_manager.py: 1238] +05/27 01:17:05 WARNING: [Worker 0] Could not find object objatoiletpaper_903ed803932340b19104cf5232c5dcc4_1_0_5 in scene [object_manager.py: 1238] +05/27 01:18:53 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 01:30:03 INFO: [Worker 0] Worker 0 house 2681 episode 0 object objasilencer_2697ccda6f8842828f833a7292cb68d9_1_0_8 completed with success=False [pipeline.py: 1114] +05/27 01:30:06 INFO: [Worker 0] Batching and saving trajectory data for house_2681: 1 episodes [pipeline.py: 233] +05/27 01:30:06 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 01:30:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 01:30:09 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2681 [save_utils.py: 703] +05/27 01:30:09 INFO: [Worker 0] Successfully saved trajectory data for house_2681 in 2.75s (batch: 2.66s, save: 0.09s) [pipeline.py: 280] +05/27 01:30:10 WARNING: [Worker 0] No trajectory data to save for house_2681 [pipeline.py: 229] +05/27 01:30:10 INFO: [Worker 0] Worker 0 completed house 2681: 0/1 successful episodes [pipeline.py: 1243] +05/27 01:30:10 INFO: [Worker 0] Worker 0 starting house 2805 (index 25/115) [pipeline.py: 473] +05/27 01:30:10 INFO: [Worker 0] Loaded 1 episodes for house 2805 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 01:30:10 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 01:30:51 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2805_ceiling.xml [task_sampler.py: 797] +05/27 01:30:51 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2805, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 01:30:51 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 01:30:51 INFO: [Worker 0] randomize_scene: Setting poses for 45 objects [json_eval_task_sampler.py: 686] +05/27 01:30:51 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 01:30:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 01:30:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 01:30:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 01:30:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 01:30:52 INFO: [Worker 0] Sampled task 'Pick up the sleek black immersion blender and place it next to the yellow fountain pen with gold nib' [task_sampler.py: 1136] +05/27 01:30:52 INFO: [Worker 0] Worker 0 house 2805 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 01:30:52 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 01:32:35 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 01:42:35 INFO: [Worker 0] Worker 0 house 2805 episode 0 object objaimmersionblender_b44195533bc947af86f7e0eb9f0fdbce_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 01:42:39 INFO: [Worker 0] Batching and saving trajectory data for house_2805: 1 episodes [pipeline.py: 233] +05/27 01:42:39 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 01:42:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 01:42:42 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2805 [save_utils.py: 703] +05/27 01:42:42 INFO: [Worker 0] Successfully saved trajectory data for house_2805 in 2.69s (batch: 2.60s, save: 0.09s) [pipeline.py: 280] +05/27 01:42:42 WARNING: [Worker 0] No trajectory data to save for house_2805 [pipeline.py: 229] +05/27 01:42:42 INFO: [Worker 0] Worker 0 completed house 2805: 0/1 successful episodes [pipeline.py: 1243] +05/27 01:42:42 INFO: [Worker 0] Worker 0 starting house 2885 (index 26/115) [pipeline.py: 473] +05/27 01:42:42 INFO: [Worker 0] Loaded 1 episodes for house 2885 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 01:42:42 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 01:42:50 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2885_ceiling.xml [task_sampler.py: 797] +05/27 01:42:50 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2885, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 01:42:50 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 01:42:50 INFO: [Worker 0] randomize_scene: Setting poses for 100 objects [json_eval_task_sampler.py: 686] +05/27 01:42:50 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 01:42:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 01:42:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 01:42:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 01:42:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 01:42:50 INFO: [Worker 0] Sampled task 'Pick up the rectangular dark insulation panel and place it next to the slim phone' [task_sampler.py: 1136] +05/27 01:42:50 INFO: [Worker 0] Worker 0 house 2885 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 01:42:51 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 02:04:08 INFO: [Worker 0] Worker 0 house 2885 episode 0 object objainsulationpanel_a06ecf98780b49ad891a166141119739_1_0_4 completed with success=False [pipeline.py: 1114] +05/27 02:04:12 INFO: [Worker 0] Batching and saving trajectory data for house_2885: 1 episodes [pipeline.py: 233] +05/27 02:04:12 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 02:04:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 02:04:15 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2885 [save_utils.py: 703] +05/27 02:04:15 INFO: [Worker 0] Successfully saved trajectory data for house_2885 in 2.76s (batch: 2.67s, save: 0.09s) [pipeline.py: 280] +05/27 02:04:15 WARNING: [Worker 0] No trajectory data to save for house_2885 [pipeline.py: 229] +05/27 02:04:15 INFO: [Worker 0] Worker 0 completed house 2885: 0/1 successful episodes [pipeline.py: 1243] +05/27 02:04:15 INFO: [Worker 0] Worker 0 starting house 2978 (index 27/115) [pipeline.py: 473] +05/27 02:04:15 INFO: [Worker 0] Loaded 1 episodes for house 2978 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 02:04:15 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 02:04:18 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_2978_ceiling.xml [task_sampler.py: 797] +05/27 02:04:18 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=2978, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 02:04:18 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 02:04:18 INFO: [Worker 0] randomize_scene: Setting poses for 29 objects [json_eval_task_sampler.py: 686] +05/27 02:04:18 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 02:04:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 02:04:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 02:04:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 02:04:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 02:04:18 INFO: [Worker 0] Sampled task 'Pick up the glossy yellow vase and place it next to the dark gray coral with branches' [task_sampler.py: 1136] +05/27 02:04:18 INFO: [Worker 0] Worker 0 house 2978 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 02:04:18 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 02:05:59 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 02:14:36 INFO: [Worker 0] Worker 0 house 2978 episode 0 object vase_cb3703664cbf21eb7b79c941e5ea5d5b_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 02:14:40 INFO: [Worker 0] Batching and saving trajectory data for house_2978: 1 episodes [pipeline.py: 233] +05/27 02:14:40 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 02:14:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 02:14:43 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_2978 [save_utils.py: 703] +05/27 02:14:43 INFO: [Worker 0] Successfully saved trajectory data for house_2978 in 2.66s (batch: 2.58s, save: 0.09s) [pipeline.py: 280] +05/27 02:14:43 WARNING: [Worker 0] No trajectory data to save for house_2978 [pipeline.py: 229] +05/27 02:14:43 INFO: [Worker 0] Worker 0 completed house 2978: 0/1 successful episodes [pipeline.py: 1243] +05/27 02:14:43 INFO: [Worker 0] Worker 0 starting house 3096 (index 28/115) [pipeline.py: 473] +05/27 02:14:43 INFO: [Worker 0] Loaded 1 episodes for house 3096 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 02:14:43 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 02:14:53 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3096_ceiling.xml [task_sampler.py: 797] +05/27 02:14:53 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3096, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 02:14:53 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 02:14:53 INFO: [Worker 0] randomize_scene: Setting poses for 25 objects [json_eval_task_sampler.py: 686] +05/27 02:14:53 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 02:14:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 02:14:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 02:14:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 02:14:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 02:14:53 INFO: [Worker 0] Sampled task 'Pick up the reddish leather book with teeth and place it next to the small shiny gold dog statue' [task_sampler.py: 1136] +05/27 02:14:53 INFO: [Worker 0] Worker 0 house 3096 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 02:14:53 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 02:16:35 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 02:23:40 INFO: [Worker 0] Worker 0 house 3096 episode 0 object objafantasybook_db83a97ab5ba4c7891f73ff9dea43714_1_0_3 completed with success=False [pipeline.py: 1114] +05/27 02:23:44 INFO: [Worker 0] Batching and saving trajectory data for house_3096: 1 episodes [pipeline.py: 233] +05/27 02:23:44 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 02:23:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 02:23:46 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3096 [save_utils.py: 703] +05/27 02:23:46 INFO: [Worker 0] Successfully saved trajectory data for house_3096 in 2.46s (batch: 2.36s, save: 0.10s) [pipeline.py: 280] +05/27 02:23:47 WARNING: [Worker 0] No trajectory data to save for house_3096 [pipeline.py: 229] +05/27 02:23:47 INFO: [Worker 0] Worker 0 completed house 3096: 0/1 successful episodes [pipeline.py: 1243] +05/27 02:23:47 INFO: [Worker 0] Worker 0 starting house 3211 (index 29/115) [pipeline.py: 473] +05/27 02:23:47 INFO: [Worker 0] Loaded 1 episodes for house 3211 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 02:23:47 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 02:23:49 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3211_ceiling.xml [task_sampler.py: 797] +05/27 02:23:49 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3211, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 02:23:49 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 02:23:49 INFO: [Worker 0] randomize_scene: Setting poses for 24 objects [json_eval_task_sampler.py: 686] +05/27 02:23:49 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 02:23:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 02:23:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 02:23:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 02:23:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 02:23:49 INFO: [Worker 0] Sampled task 'Pick up the vintage wooden planer with metal grooves and place it next to the translucent ergonomic spray bottle' [task_sampler.py: 1136] +05/27 02:23:49 INFO: [Worker 0] Worker 0 house 3211 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 02:23:49 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 02:25:27 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 02:32:39 INFO: [Worker 0] Worker 0 house 3211 episode 0 object objahandplaner_ff4279a607284c2a9dc4c3a271eca247_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 02:32:43 INFO: [Worker 0] Batching and saving trajectory data for house_3211: 1 episodes [pipeline.py: 233] +05/27 02:32:43 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 02:32:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 02:32:46 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3211 [save_utils.py: 703] +05/27 02:32:46 INFO: [Worker 0] Successfully saved trajectory data for house_3211 in 2.87s (batch: 2.78s, save: 0.09s) [pipeline.py: 280] +05/27 02:32:47 WARNING: [Worker 0] No trajectory data to save for house_3211 [pipeline.py: 229] +05/27 02:32:47 INFO: [Worker 0] Worker 0 completed house 3211: 0/1 successful episodes [pipeline.py: 1243] +05/27 02:32:47 INFO: [Worker 0] Worker 0 starting house 3269 (index 30/115) [pipeline.py: 473] +05/27 02:32:47 INFO: [Worker 0] Loaded 1 episodes for house 3269 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 02:32:47 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 02:32:57 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3269_ceiling.xml [task_sampler.py: 797] +05/27 02:32:57 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3269, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 02:32:57 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 02:32:57 INFO: [Worker 0] randomize_scene: Setting poses for 90 objects [json_eval_task_sampler.py: 686] +05/27 02:32:58 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 02:32:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 02:32:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 02:32:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 02:32:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 02:32:58 INFO: [Worker 0] Sampled task 'Pick up the handheld tool and place it next to the translucent blue soap bottle' [task_sampler.py: 1136] +05/27 02:32:58 INFO: [Worker 0] Worker 0 house 3269 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 02:32:58 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 02:34:36 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 02:51:44 INFO: [Worker 0] Worker 0 house 3269 episode 0 object objahandheldtool_83a542c3f56a4e4f8f8017c94d9cf054_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 02:51:47 INFO: [Worker 0] Batching and saving trajectory data for house_3269: 1 episodes [pipeline.py: 233] +05/27 02:51:47 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 02:51:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 02:51:50 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3269 [save_utils.py: 703] +05/27 02:51:50 INFO: [Worker 0] Successfully saved trajectory data for house_3269 in 2.69s (batch: 2.60s, save: 0.09s) [pipeline.py: 280] +05/27 02:51:51 WARNING: [Worker 0] No trajectory data to save for house_3269 [pipeline.py: 229] +05/27 02:51:51 INFO: [Worker 0] Worker 0 completed house 3269: 0/1 successful episodes [pipeline.py: 1243] +05/27 02:51:51 INFO: [Worker 0] Worker 0 starting house 3319 (index 31/115) [pipeline.py: 473] +05/27 02:51:51 INFO: [Worker 0] Loaded 1 episodes for house 3319 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 02:51:51 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 02:51:56 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3319_ceiling.xml [task_sampler.py: 797] +05/27 02:51:56 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3319, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 02:51:56 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 02:51:56 INFO: [Worker 0] randomize_scene: Setting poses for 72 objects [json_eval_task_sampler.py: 686] +05/27 02:51:56 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 02:51:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 02:51:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 02:51:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 02:51:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 02:51:56 INFO: [Worker 0] Sampled task 'Pick up the arthropod and place it next to the dark glossy hardcover book with gold' [task_sampler.py: 1136] +05/27 02:51:56 INFO: [Worker 0] Worker 0 house 3319 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 02:51:56 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 02:53:34 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 03:07:15 INFO: [Worker 0] Worker 0 house 3319 episode 0 object objamoth_a28d9a3820814921929228e03b35f041_1_0_4 completed with success=False [pipeline.py: 1114] +05/27 03:07:18 INFO: [Worker 0] Batching and saving trajectory data for house_3319: 1 episodes [pipeline.py: 233] +05/27 03:07:18 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 03:07:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 03:07:21 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3319 [save_utils.py: 703] +05/27 03:07:21 INFO: [Worker 0] Successfully saved trajectory data for house_3319 in 2.46s (batch: 2.36s, save: 0.09s) [pipeline.py: 280] +05/27 03:07:21 WARNING: [Worker 0] No trajectory data to save for house_3319 [pipeline.py: 229] +05/27 03:07:21 INFO: [Worker 0] Worker 0 completed house 3319: 0/1 successful episodes [pipeline.py: 1243] +05/27 03:07:21 INFO: [Worker 0] Worker 0 starting house 3397 (index 32/115) [pipeline.py: 473] +05/27 03:07:21 INFO: [Worker 0] Loaded 1 episodes for house 3397 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 03:07:21 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 03:07:24 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3397_ceiling.xml [task_sampler.py: 797] +05/27 03:07:24 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3397, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 03:07:24 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 03:07:24 INFO: [Worker 0] randomize_scene: Setting poses for 37 objects [json_eval_task_sampler.py: 686] +05/27 03:07:24 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 03:07:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 03:07:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 03:07:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 03:07:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 03:07:24 INFO: [Worker 0] Sampled task 'Pick up the dark brown ocarina with spiral tail and place it next to the dark laptop' [task_sampler.py: 1136] +05/27 03:07:24 INFO: [Worker 0] Worker 0 house 3397 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 03:07:24 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 03:07:25 WARNING: [Worker 0] Could not find object objahikingshoe_10cc269cd5d440dcba6477203e380f73_1_0_5 in scene [object_manager.py: 1238] +05/27 03:07:25 WARNING: [Worker 0] Could not find object objapendantnecklace_11a5d7ca6f1e43a2a8ee668935acfb1e_1_0_5 in scene [object_manager.py: 1238] +05/27 03:07:25 WARNING: [Worker 0] Could not find object objapendantnecklace_11a5d7ca6f1e43a2a8ee668935acfb1e_2_0_5 in scene [object_manager.py: 1238] +05/27 03:07:25 WARNING: [Worker 0] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene [object_manager.py: 1238] +05/27 03:09:00 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 03:18:32 INFO: [Worker 0] Worker 0 house 3397 episode 0 object objaocarina_dedd2ab83a78404085dd2168d511d9b0_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 03:18:35 INFO: [Worker 0] Batching and saving trajectory data for house_3397: 1 episodes [pipeline.py: 233] +05/27 03:18:35 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 03:18:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 03:18:38 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3397 [save_utils.py: 703] +05/27 03:18:38 INFO: [Worker 0] Successfully saved trajectory data for house_3397 in 2.74s (batch: 2.65s, save: 0.09s) [pipeline.py: 280] +05/27 03:18:39 WARNING: [Worker 0] No trajectory data to save for house_3397 [pipeline.py: 229] +05/27 03:18:39 INFO: [Worker 0] Worker 0 completed house 3397: 0/1 successful episodes [pipeline.py: 1243] +05/27 03:18:39 INFO: [Worker 0] Worker 0 starting house 3462 (index 33/115) [pipeline.py: 473] +05/27 03:18:39 INFO: [Worker 0] Loaded 1 episodes for house 3462 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 03:18:39 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 03:18:43 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3462_ceiling.xml [task_sampler.py: 797] +05/27 03:18:43 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3462, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 03:18:43 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 03:18:43 INFO: [Worker 0] randomize_scene: Setting poses for 61 objects [json_eval_task_sampler.py: 686] +05/27 03:18:43 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 03:18:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 03:18:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 03:18:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 03:18:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 03:18:43 INFO: [Worker 0] Sampled task 'Pick up the black walkie-talkie device and place it next to the matte dark gray bowl' [task_sampler.py: 1136] +05/27 03:18:43 INFO: [Worker 0] Worker 0 house 3462 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 03:18:43 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 03:18:43 WARNING: [Worker 0] Could not find object objacollar_5f329a75ab1a4890868ba37061ca3396_1_0_3 in scene [object_manager.py: 1238] +05/27 03:18:43 WARNING: [Worker 0] Could not find object objacollar_5f329a75ab1a4890868ba37061ca3396_2_0_3 in scene [object_manager.py: 1238] +05/27 03:20:18 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 03:31:59 INFO: [Worker 0] Worker 0 house 3462 episode 0 object objawalkietalkie_8924c4e1bc4d4d33addb56a31fecb09a_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 03:32:02 INFO: [Worker 0] Batching and saving trajectory data for house_3462: 1 episodes [pipeline.py: 233] +05/27 03:32:02 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 03:32:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 03:32:04 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3462 [save_utils.py: 703] +05/27 03:32:04 INFO: [Worker 0] Successfully saved trajectory data for house_3462 in 2.36s (batch: 2.27s, save: 0.09s) [pipeline.py: 280] +05/27 03:32:05 WARNING: [Worker 0] No trajectory data to save for house_3462 [pipeline.py: 229] +05/27 03:32:05 INFO: [Worker 0] Worker 0 completed house 3462: 0/1 successful episodes [pipeline.py: 1243] +05/27 03:32:05 INFO: [Worker 0] Worker 0 starting house 3536 (index 34/115) [pipeline.py: 473] +05/27 03:32:05 INFO: [Worker 0] Loaded 1 episodes for house 3536 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 03:32:05 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 03:32:23 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3536_ceiling.xml [task_sampler.py: 797] +05/27 03:32:23 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3536, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 03:32:23 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 03:32:23 INFO: [Worker 0] randomize_scene: Setting poses for 79 objects [json_eval_task_sampler.py: 686] +05/27 03:32:23 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 03:32:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 03:32:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 03:32:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 03:32:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 03:32:23 INFO: [Worker 0] Sampled task 'Pick up the antique corkscrew with wooden handle and place it next to the textured mauve knitted beanie' [task_sampler.py: 1136] +05/27 03:32:23 INFO: [Worker 0] Worker 0 house 3536 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 03:32:23 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 03:51:33 INFO: [Worker 0] Worker 0 house 3536 episode 0 object objacorkscrew_dd933eddfb3d4750b7e448c06b4f5b9b_1_0_4 completed with success=False [pipeline.py: 1114] +05/27 03:51:36 INFO: [Worker 0] Batching and saving trajectory data for house_3536: 1 episodes [pipeline.py: 233] +05/27 03:51:36 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 03:51:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 03:51:39 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3536 [save_utils.py: 703] +05/27 03:51:39 INFO: [Worker 0] Successfully saved trajectory data for house_3536 in 2.40s (batch: 2.31s, save: 0.09s) [pipeline.py: 280] +05/27 03:51:39 WARNING: [Worker 0] No trajectory data to save for house_3536 [pipeline.py: 229] +05/27 03:51:39 INFO: [Worker 0] Worker 0 completed house 3536: 0/1 successful episodes [pipeline.py: 1243] +05/27 03:51:39 INFO: [Worker 0] Worker 0 starting house 3561 (index 35/115) [pipeline.py: 473] +05/27 03:51:39 INFO: [Worker 0] Loaded 2 episodes for house 3561 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 03:51:39 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 03:51:46 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3561_ceiling.xml [task_sampler.py: 797] +05/27 03:51:46 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3561, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 03:51:46 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 03:51:46 INFO: [Worker 0] randomize_scene: Setting poses for 41 objects [json_eval_task_sampler.py: 686] +05/27 03:51:46 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 03:51:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 03:51:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 03:51:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 03:51:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 03:51:46 INFO: [Worker 0] Sampled task 'Pick up the walkie talkie and place it next to the white hardcover programming book' [task_sampler.py: 1136] +05/27 03:51:46 INFO: [Worker 0] Worker 0 house 3561 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/27 03:51:46 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 03:53:27 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 04:04:43 INFO: [Worker 0] Worker 0 house 3561 episode 0 object objawalkietalkie_a480d67491c54b39ba992becac97ca5e_1_0_4 completed with success=False [pipeline.py: 1114] +05/27 04:04:47 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 04:04:50 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3561_ceiling.xml [task_sampler.py: 797] +05/27 04:04:50 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3561, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 04:04:50 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 04:04:50 INFO: [Worker 0] randomize_scene: Setting poses for 41 objects [json_eval_task_sampler.py: 686] +05/27 04:04:50 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 04:04:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 04:04:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 04:04:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 04:04:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 04:04:50 INFO: [Worker 0] Sampled task 'Pick up the motion-picture camera and place it next to the white virus model with red spikes' [task_sampler.py: 1136] +05/27 04:04:50 INFO: [Worker 0] Worker 0 house 3561 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/27 04:04:50 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 04:17:31 INFO: [Worker 0] Worker 0 house 3561 episode 1 object objamoviecamera_b80246878f17451184b098df7b081cb7_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 04:17:35 INFO: [Worker 0] Batching and saving trajectory data for house_3561: 2 episodes [pipeline.py: 233] +05/27 04:17:35 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 04:17:37 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 04:17:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 04:17:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 04:17:40 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3561 [save_utils.py: 703] +05/27 04:17:40 INFO: [Worker 0] Successfully saved trajectory data for house_3561 in 4.94s (batch: 4.77s, save: 0.17s) [pipeline.py: 280] +05/27 04:17:40 WARNING: [Worker 0] No trajectory data to save for house_3561 [pipeline.py: 229] +05/27 04:17:40 INFO: [Worker 0] Worker 0 completed house 3561: 0/2 successful episodes [pipeline.py: 1243] +05/27 04:17:40 INFO: [Worker 0] Worker 0 starting house 3647 (index 36/115) [pipeline.py: 473] +05/27 04:17:40 INFO: [Worker 0] Loaded 1 episodes for house 3647 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 04:17:40 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 04:17:47 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3647_ceiling.xml [task_sampler.py: 797] +05/27 04:17:47 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3647, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 04:17:47 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 04:17:47 INFO: [Worker 0] randomize_scene: Setting poses for 85 objects [json_eval_task_sampler.py: 686] +05/27 04:17:47 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 04:17:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 04:17:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 04:17:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 04:17:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 04:17:47 INFO: [Worker 0] Sampled task 'Pick up the metal spatula with slots and handle and place it next to the european dragon' [task_sampler.py: 1136] +05/27 04:17:47 INFO: [Worker 0] Worker 0 house 3647 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 04:17:47 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 04:17:47 WARNING: [Worker 0] Could not find object objabread_3781314af1954867a5eb2bca6c18a955_1_0_2 in scene [object_manager.py: 1238] +05/27 04:17:47 WARNING: [Worker 0] Could not find object plate_d3f03fb737fec5e1ec6a907be81b1810_1_0_2 in scene [object_manager.py: 1238] +05/27 04:17:47 WARNING: [Worker 0] Could not find object objareligiousicon_eb6f9f0bf68943a2b5d85ce40fe2c6f9_1_0_3 in scene [object_manager.py: 1238] +05/27 04:19:24 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 04:37:49 INFO: [Worker 0] Worker 0 house 3647 episode 0 object objaspatula_80870db1713949d5a750f510a6dbce54_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 04:37:53 INFO: [Worker 0] Batching and saving trajectory data for house_3647: 1 episodes [pipeline.py: 233] +05/27 04:37:53 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 04:37:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 04:37:56 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3647 [save_utils.py: 703] +05/27 04:37:56 INFO: [Worker 0] Successfully saved trajectory data for house_3647 in 2.68s (batch: 2.59s, save: 0.09s) [pipeline.py: 280] +05/27 04:37:56 WARNING: [Worker 0] No trajectory data to save for house_3647 [pipeline.py: 229] +05/27 04:37:56 INFO: [Worker 0] Worker 0 completed house 3647: 0/1 successful episodes [pipeline.py: 1243] +05/27 04:37:56 INFO: [Worker 0] Worker 0 starting house 3746 (index 37/115) [pipeline.py: 473] +05/27 04:37:56 INFO: [Worker 0] Loaded 1 episodes for house 3746 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 04:37:56 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 04:38:00 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3746_ceiling.xml [task_sampler.py: 797] +05/27 04:38:00 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3746, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 04:38:00 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 04:38:00 INFO: [Worker 0] randomize_scene: Setting poses for 23 objects [json_eval_task_sampler.py: 686] +05/27 04:38:00 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 04:38:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 04:38:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 04:38:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 04:38:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 04:38:00 INFO: [Worker 0] Sampled task 'Pick up the eggs and place it next to the cookware' [task_sampler.py: 1136] +05/27 04:38:00 INFO: [Worker 0] Worker 0 house 3746 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 04:38:00 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 04:39:35 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 04:40:47 INFO: [Worker 0] Worker 0 house 3746 episode 0 object egg_458c762f78242a821082a457af28fe5c_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 04:40:51 INFO: [Worker 0] Batching and saving trajectory data for house_3746: 1 episodes [pipeline.py: 233] +05/27 04:40:51 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 04:40:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 04:40:53 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3746 [save_utils.py: 703] +05/27 04:40:53 INFO: [Worker 0] Successfully saved trajectory data for house_3746 in 2.40s (batch: 2.31s, save: 0.09s) [pipeline.py: 280] +05/27 04:40:54 WARNING: [Worker 0] No trajectory data to save for house_3746 [pipeline.py: 229] +05/27 04:40:54 INFO: [Worker 0] Worker 0 completed house 3746: 0/1 successful episodes [pipeline.py: 1243] +05/27 04:40:54 INFO: [Worker 0] Worker 0 starting house 3795 (index 38/115) [pipeline.py: 473] +05/27 04:40:54 INFO: [Worker 0] Loaded 1 episodes for house 3795 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 04:40:54 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 04:40:56 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3795_ceiling.xml [task_sampler.py: 797] +05/27 04:40:56 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3795, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 04:40:56 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 04:40:56 INFO: [Worker 0] randomize_scene: Setting poses for 29 objects [json_eval_task_sampler.py: 686] +05/27 04:40:56 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 04:40:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 04:40:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 04:40:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 04:40:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 04:40:56 INFO: [Worker 0] Sampled task 'Pick up the tall tower with red roof and windows and place it next to the polished gray human hand' [task_sampler.py: 1136] +05/27 04:40:56 INFO: [Worker 0] Worker 0 house 3795 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 04:40:56 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 04:42:33 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 04:48:46 INFO: [Worker 0] Worker 0 house 3795 episode 0 object objamodelbuilding_a4d581e238fd44bcbc5c47dddafc3952_1_0_3 completed with success=False [pipeline.py: 1114] +05/27 04:48:50 INFO: [Worker 0] Batching and saving trajectory data for house_3795: 1 episodes [pipeline.py: 233] +05/27 04:48:50 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 04:48:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 04:48:52 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3795 [save_utils.py: 703] +05/27 04:48:52 INFO: [Worker 0] Successfully saved trajectory data for house_3795 in 2.47s (batch: 2.38s, save: 0.09s) [pipeline.py: 280] +05/27 04:48:53 WARNING: [Worker 0] No trajectory data to save for house_3795 [pipeline.py: 229] +05/27 04:48:53 INFO: [Worker 0] Worker 0 completed house 3795: 0/1 successful episodes [pipeline.py: 1243] +05/27 04:48:53 INFO: [Worker 0] Worker 0 starting house 3924 (index 39/115) [pipeline.py: 473] +05/27 04:48:53 INFO: [Worker 0] Loaded 1 episodes for house 3924 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 04:48:53 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 04:48:59 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_3924_ceiling.xml [task_sampler.py: 797] +05/27 04:48:59 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=3924, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 04:48:59 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 04:48:59 INFO: [Worker 0] randomize_scene: Setting poses for 50 objects [json_eval_task_sampler.py: 686] +05/27 04:48:59 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 04:48:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 04:48:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 04:48:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 04:48:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 04:48:59 INFO: [Worker 0] Sampled task 'Pick up the intricate green dragon goblet and place it next to the speaker unit' [task_sampler.py: 1136] +05/27 04:48:59 INFO: [Worker 0] Worker 0 house 3924 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 04:48:59 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 04:50:39 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 05:02:31 INFO: [Worker 0] Worker 0 house 3924 episode 0 object objadecorativegoblet_36e0c8e1fb7d4556805e0a46a80ddea7_1_0_9 completed with success=False [pipeline.py: 1114] +05/27 05:02:35 INFO: [Worker 0] Batching and saving trajectory data for house_3924: 1 episodes [pipeline.py: 233] +05/27 05:02:35 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 05:02:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 05:02:37 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_3924 [save_utils.py: 703] +05/27 05:02:37 INFO: [Worker 0] Successfully saved trajectory data for house_3924 in 2.45s (batch: 2.36s, save: 0.09s) [pipeline.py: 280] +05/27 05:02:38 WARNING: [Worker 0] No trajectory data to save for house_3924 [pipeline.py: 229] +05/27 05:02:38 INFO: [Worker 0] Worker 0 completed house 3924: 0/1 successful episodes [pipeline.py: 1243] +05/27 05:02:38 INFO: [Worker 0] Worker 0 starting house 4063 (index 40/115) [pipeline.py: 473] +05/27 05:02:38 INFO: [Worker 0] Loaded 1 episodes for house 4063 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 05:02:38 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 05:02:39 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4063_ceiling.xml [task_sampler.py: 797] +05/27 05:02:39 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4063, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 05:02:39 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 05:02:39 INFO: [Worker 0] randomize_scene: Setting poses for 21 objects [json_eval_task_sampler.py: 686] +05/27 05:02:39 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 05:02:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 05:02:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 05:02:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 05:02:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 05:02:39 INFO: [Worker 0] Sampled task 'Pick up the black metal scope mount with knob and place it next to the thick blue hardcover book with pages' [task_sampler.py: 1136] +05/27 05:02:39 INFO: [Worker 0] Worker 0 house 4063 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 05:02:39 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 05:10:41 INFO: [Worker 0] Worker 0 house 4063 episode 0 object objascopemount_97d5328f85dd40cfaec1aed7a00164f3_1_0_3 completed with success=False [pipeline.py: 1114] +05/27 05:10:44 INFO: [Worker 0] Batching and saving trajectory data for house_4063: 1 episodes [pipeline.py: 233] +05/27 05:10:44 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 05:10:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 05:10:46 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4063 [save_utils.py: 703] +05/27 05:10:46 INFO: [Worker 0] Successfully saved trajectory data for house_4063 in 2.38s (batch: 2.29s, save: 0.09s) [pipeline.py: 280] +05/27 05:10:47 WARNING: [Worker 0] No trajectory data to save for house_4063 [pipeline.py: 229] +05/27 05:10:47 INFO: [Worker 0] Worker 0 completed house 4063: 0/1 successful episodes [pipeline.py: 1243] +05/27 05:10:47 INFO: [Worker 0] Worker 0 starting house 4151 (index 41/115) [pipeline.py: 473] +05/27 05:10:47 INFO: [Worker 0] Loaded 1 episodes for house 4151 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 05:10:47 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 05:10:50 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4151_ceiling.xml [task_sampler.py: 797] +05/27 05:10:50 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4151, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 05:10:50 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 05:10:50 INFO: [Worker 0] randomize_scene: Setting poses for 44 objects [json_eval_task_sampler.py: 686] +05/27 05:10:50 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 05:10:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 05:10:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 05:10:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 05:10:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 05:10:50 INFO: [Worker 0] Sampled task 'Pick up the black rectangular device with pin screen and place it next to the small shiny gold dog statue' [task_sampler.py: 1136] +05/27 05:10:50 INFO: [Worker 0] Worker 0 house 4151 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 05:10:50 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 05:10:50 WARNING: [Worker 0] Could not find object objaruggedtablet_7d98faec09a24d07aed03df9b648c7a9_1_0_2 in scene [object_manager.py: 1238] +05/27 05:22:14 INFO: [Worker 0] Worker 0 house 4151 episode 0 object objakeypad_297bb83c296b49cf93bfbf157f9ca431_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 05:22:17 INFO: [Worker 0] Batching and saving trajectory data for house_4151: 1 episodes [pipeline.py: 233] +05/27 05:22:17 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 05:22:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 05:22:20 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4151 [save_utils.py: 703] +05/27 05:22:20 INFO: [Worker 0] Successfully saved trajectory data for house_4151 in 2.39s (batch: 2.30s, save: 0.09s) [pipeline.py: 280] +05/27 05:22:20 WARNING: [Worker 0] No trajectory data to save for house_4151 [pipeline.py: 229] +05/27 05:22:20 INFO: [Worker 0] Worker 0 completed house 4151: 0/1 successful episodes [pipeline.py: 1243] +05/27 05:22:20 INFO: [Worker 0] Worker 0 starting house 4234 (index 42/115) [pipeline.py: 473] +05/27 05:22:20 INFO: [Worker 0] Loaded 1 episodes for house 4234 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 05:22:20 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 05:22:30 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4234_ceiling.xml [task_sampler.py: 797] +05/27 05:22:30 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4234, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 05:22:30 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 05:22:30 INFO: [Worker 0] randomize_scene: Setting poses for 76 objects [json_eval_task_sampler.py: 686] +05/27 05:22:30 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 05:22:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 05:22:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 05:22:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 05:22:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 05:22:30 INFO: [Worker 0] Sampled task 'Pick up the rectangular weathered wood with moss and place it next to the smooth translucent plastic cup' [task_sampler.py: 1136] +05/27 05:22:30 INFO: [Worker 0] Worker 0 house 4234 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 05:22:30 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 05:39:31 INFO: [Worker 0] Worker 0 house 4234 episode 0 object objadecorativewoodpiece_47bc008c241141a68eac85c8c997ff74_1_0_8 completed with success=False [pipeline.py: 1114] +05/27 05:39:34 INFO: [Worker 0] Batching and saving trajectory data for house_4234: 1 episodes [pipeline.py: 233] +05/27 05:39:34 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 05:39:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 05:39:37 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4234 [save_utils.py: 703] +05/27 05:39:37 INFO: [Worker 0] Successfully saved trajectory data for house_4234 in 2.50s (batch: 2.40s, save: 0.09s) [pipeline.py: 280] +05/27 05:39:37 WARNING: [Worker 0] No trajectory data to save for house_4234 [pipeline.py: 229] +05/27 05:39:37 INFO: [Worker 0] Worker 0 completed house 4234: 0/1 successful episodes [pipeline.py: 1243] +05/27 05:39:37 INFO: [Worker 0] Worker 0 starting house 4292 (index 43/115) [pipeline.py: 473] +05/27 05:39:37 INFO: [Worker 0] Loaded 1 episodes for house 4292 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 05:39:37 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 05:39:43 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4292_ceiling.xml [task_sampler.py: 797] +05/27 05:39:43 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4292, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 05:39:43 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 05:39:43 INFO: [Worker 0] randomize_scene: Setting poses for 70 objects [json_eval_task_sampler.py: 686] +05/27 05:39:43 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 05:39:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 05:39:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 05:39:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 05:39:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 05:39:43 INFO: [Worker 0] Sampled task 'Pick up the spinning top and place it next to the burnt parchment with spiral engravings' [task_sampler.py: 1136] +05/27 05:39:43 INFO: [Worker 0] Worker 0 house 4292 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 05:39:43 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 05:41:21 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 05:55:55 INFO: [Worker 0] Worker 0 house 4292 episode 0 object objaspinningtop_8ad13f2440be46aeafeae71875ec2820_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 05:55:58 INFO: [Worker 0] Batching and saving trajectory data for house_4292: 1 episodes [pipeline.py: 233] +05/27 05:55:58 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 05:56:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 05:56:01 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4292 [save_utils.py: 703] +05/27 05:56:01 INFO: [Worker 0] Successfully saved trajectory data for house_4292 in 2.85s (batch: 2.75s, save: 0.10s) [pipeline.py: 280] +05/27 05:56:02 WARNING: [Worker 0] No trajectory data to save for house_4292 [pipeline.py: 229] +05/27 05:56:02 INFO: [Worker 0] Worker 0 completed house 4292: 0/1 successful episodes [pipeline.py: 1243] +05/27 05:56:02 INFO: [Worker 0] Worker 0 starting house 4327 (index 44/115) [pipeline.py: 473] +05/27 05:56:02 INFO: [Worker 0] Loaded 1 episodes for house 4327 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 05:56:02 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 05:56:07 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4327_ceiling.xml [task_sampler.py: 797] +05/27 05:56:07 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4327, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 05:56:07 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 05:56:07 INFO: [Worker 0] randomize_scene: Setting poses for 66 objects [json_eval_task_sampler.py: 686] +05/27 05:56:07 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 05:56:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 05:56:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 05:56:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 05:56:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 05:56:07 INFO: [Worker 0] Sampled task 'Pick up the mechanical clock and place it next to the laptop computer' [task_sampler.py: 1136] +05/27 05:56:07 INFO: [Worker 0] Worker 0 house 4327 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 05:56:07 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 05:56:07 WARNING: [Worker 0] Could not find object objaexternalharddrive_f4035bcaf9094e34afb664c872233c1c_1_0_9 in scene [object_manager.py: 1238] +05/27 05:57:46 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 06:11:06 INFO: [Worker 0] Worker 0 house 4327 episode 0 object objamechanicalclock_e34eebdd4ac04f8eb273cdbff5bea846_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 06:11:10 INFO: [Worker 0] Batching and saving trajectory data for house_4327: 1 episodes [pipeline.py: 233] +05/27 06:11:10 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 06:11:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 06:11:12 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4327 [save_utils.py: 703] +05/27 06:11:12 INFO: [Worker 0] Successfully saved trajectory data for house_4327 in 2.39s (batch: 2.30s, save: 0.09s) [pipeline.py: 280] +05/27 06:11:13 WARNING: [Worker 0] No trajectory data to save for house_4327 [pipeline.py: 229] +05/27 06:11:13 INFO: [Worker 0] Worker 0 completed house 4327: 0/1 successful episodes [pipeline.py: 1243] +05/27 06:11:13 INFO: [Worker 0] Worker 0 starting house 4349 (index 45/115) [pipeline.py: 473] +05/27 06:11:13 INFO: [Worker 0] Loaded 2 episodes for house 4349 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 06:11:13 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 06:11:23 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/27 06:11:28 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4349_ceiling.xml [task_sampler.py: 797] +05/27 06:11:28 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4349, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 06:11:28 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 06:11:28 INFO: [Worker 0] randomize_scene: Setting poses for 83 objects [json_eval_task_sampler.py: 686] +05/27 06:11:28 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 06:11:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 06:11:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 06:11:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 06:11:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 06:11:28 INFO: [Worker 0] Sampled task 'Pick up the dark green handheld barcode scanner and place it next to the beige pillow' [task_sampler.py: 1136] +05/27 06:11:28 INFO: [Worker 0] Worker 0 house 4349 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/27 06:11:28 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 06:11:28 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene [object_manager.py: 1238] +05/27 06:13:04 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 06:29:29 INFO: [Worker 0] Worker 0 house 4349 episode 0 object objabarcodescanner_88317b5bfc0b4c14a5004c6d109c815b_1_0_3 completed with success=False [pipeline.py: 1114] +05/27 06:29:32 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 06:29:34 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/27 06:29:38 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4349_ceiling.xml [task_sampler.py: 797] +05/27 06:29:38 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4349, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 06:29:38 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 06:29:38 INFO: [Worker 0] randomize_scene: Setting poses for 83 objects [json_eval_task_sampler.py: 686] +05/27 06:29:38 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 06:29:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 06:29:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 06:29:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 06:29:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 06:29:38 INFO: [Worker 0] Sampled task 'Pick up the angled lever with stone base and place it next to the square dark compact laptop' [task_sampler.py: 1136] +05/27 06:29:38 INFO: [Worker 0] Worker 0 house 4349 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/27 06:29:38 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 06:29:38 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene [object_manager.py: 1238] +05/27 06:47:49 INFO: [Worker 0] Worker 0 house 4349 episode 1 object objalever_5d821ac7148240c092c4face44c1d096_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 06:47:53 INFO: [Worker 0] Batching and saving trajectory data for house_4349: 2 episodes [pipeline.py: 233] +05/27 06:47:53 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 06:47:56 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 06:47:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 06:47:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 06:47:58 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4349 [save_utils.py: 703] +05/27 06:47:58 INFO: [Worker 0] Successfully saved trajectory data for house_4349 in 5.47s (batch: 5.30s, save: 0.17s) [pipeline.py: 280] +05/27 06:47:59 WARNING: [Worker 0] No trajectory data to save for house_4349 [pipeline.py: 229] +05/27 06:47:59 INFO: [Worker 0] Worker 0 completed house 4349: 0/2 successful episodes [pipeline.py: 1243] +05/27 06:47:59 INFO: [Worker 0] Worker 0 starting house 4403 (index 46/115) [pipeline.py: 473] +05/27 06:47:59 INFO: [Worker 0] Loaded 1 episodes for house 4403 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 06:47:59 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 06:48:06 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4403_ceiling.xml [task_sampler.py: 797] +05/27 06:48:06 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4403, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 06:48:06 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 06:48:06 INFO: [Worker 0] randomize_scene: Setting poses for 99 objects [json_eval_task_sampler.py: 686] +05/27 06:48:06 WARNING: [Worker 0] Not setting joint of [json_eval_task_sampler.py: 441] +05/27 06:48:06 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 06:48:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 06:48:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 06:48:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 06:48:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 06:48:06 INFO: [Worker 0] Sampled task 'Pick up the portable computer and place it next to the three red tomatoes dripping liquid' [task_sampler.py: 1136] +05/27 06:48:06 INFO: [Worker 0] Worker 0 house 4403 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 06:48:06 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 06:48:06 WARNING: [Worker 0] Could not find object cellulartelephone_f65c71e22b7e94dd68f01167ec92b467_1_0_4 in scene [object_manager.py: 1238] +05/27 07:06:32 INFO: [Worker 0] Worker 0 house 4403 episode 0 object laptop_f09fcf086ebe9e3ab2d97bff50b833ef_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 07:06:35 INFO: [Worker 0] Batching and saving trajectory data for house_4403: 1 episodes [pipeline.py: 233] +05/27 07:06:35 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 07:06:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 07:06:38 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4403 [save_utils.py: 703] +05/27 07:06:38 INFO: [Worker 0] Successfully saved trajectory data for house_4403 in 2.45s (batch: 2.36s, save: 0.09s) [pipeline.py: 280] +05/27 07:06:38 WARNING: [Worker 0] No trajectory data to save for house_4403 [pipeline.py: 229] +05/27 07:06:38 INFO: [Worker 0] Worker 0 completed house 4403: 0/1 successful episodes [pipeline.py: 1243] +05/27 07:06:38 INFO: [Worker 0] Worker 0 starting house 4497 (index 47/115) [pipeline.py: 473] +05/27 07:06:38 INFO: [Worker 0] Loaded 1 episodes for house 4497 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 07:06:38 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 07:06:40 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4497_ceiling.xml [task_sampler.py: 797] +05/27 07:06:40 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4497, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 07:06:40 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 07:06:40 INFO: [Worker 0] randomize_scene: Setting poses for 20 objects [json_eval_task_sampler.py: 686] +05/27 07:06:40 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 07:06:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 07:06:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 07:06:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 07:06:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 07:06:40 INFO: [Worker 0] Sampled task 'Pick up the frenchpress and place it next to the white potato' [task_sampler.py: 1136] +05/27 07:06:40 INFO: [Worker 0] Worker 0 house 4497 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 07:06:40 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 07:08:19 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 07:13:36 INFO: [Worker 0] Worker 0 house 4497 episode 0 object objafrenchpress_5d69fbab9a5c4cce946be991c0b5e830_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 07:13:40 INFO: [Worker 0] Batching and saving trajectory data for house_4497: 1 episodes [pipeline.py: 233] +05/27 07:13:40 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 07:13:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 07:13:42 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4497 [save_utils.py: 703] +05/27 07:13:42 INFO: [Worker 0] Successfully saved trajectory data for house_4497 in 2.48s (batch: 2.39s, save: 0.09s) [pipeline.py: 280] +05/27 07:13:43 WARNING: [Worker 0] No trajectory data to save for house_4497 [pipeline.py: 229] +05/27 07:13:43 INFO: [Worker 0] Worker 0 completed house 4497: 0/1 successful episodes [pipeline.py: 1243] +05/27 07:13:43 INFO: [Worker 0] Worker 0 starting house 4623 (index 48/115) [pipeline.py: 473] +05/27 07:13:43 INFO: [Worker 0] Loaded 1 episodes for house 4623 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 07:13:43 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 07:13:51 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4623_ceiling.xml [task_sampler.py: 797] +05/27 07:13:51 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4623, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 07:13:51 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 07:13:51 INFO: [Worker 0] randomize_scene: Setting poses for 103 objects [json_eval_task_sampler.py: 686] +05/27 07:13:51 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 07:13:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 07:13:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 07:13:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 07:13:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 07:13:51 INFO: [Worker 0] Sampled task 'Pick up the rustic ceramic lid and place it next to the clear glass martini cup' [task_sampler.py: 1136] +05/27 07:13:51 INFO: [Worker 0] Worker 0 house 4623 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 07:13:52 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 07:35:05 INFO: [Worker 0] Worker 0 house 4623 episode 0 object objaceramiclid_aabbcf8989f64dcdb1597051ea410fde_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 07:35:09 INFO: [Worker 0] Batching and saving trajectory data for house_4623: 1 episodes [pipeline.py: 233] +05/27 07:35:09 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 07:35:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 07:35:11 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4623 [save_utils.py: 703] +05/27 07:35:11 INFO: [Worker 0] Successfully saved trajectory data for house_4623 in 2.43s (batch: 2.34s, save: 0.09s) [pipeline.py: 280] +05/27 07:35:12 WARNING: [Worker 0] No trajectory data to save for house_4623 [pipeline.py: 229] +05/27 07:35:12 INFO: [Worker 0] Worker 0 completed house 4623: 0/1 successful episodes [pipeline.py: 1243] +05/27 07:35:12 INFO: [Worker 0] Worker 0 starting house 4682 (index 49/115) [pipeline.py: 473] +05/27 07:35:12 INFO: [Worker 0] Loaded 1 episodes for house 4682 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 07:35:12 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 07:35:15 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4682_ceiling.xml [task_sampler.py: 797] +05/27 07:35:15 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4682, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 07:35:15 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 07:35:15 INFO: [Worker 0] randomize_scene: Setting poses for 54 objects [json_eval_task_sampler.py: 686] +05/27 07:35:15 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 07:35:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 07:35:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 07:35:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 07:35:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 07:35:15 INFO: [Worker 0] Sampled task 'Pick up the edge tool and place it next to the soapdispenser' [task_sampler.py: 1136] +05/27 07:35:15 INFO: [Worker 0] Worker 0 house 4682 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 07:35:15 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 07:36:52 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 07:48:40 INFO: [Worker 0] Worker 0 house 4682 episode 0 object objahandplane_4b6de15eb1a94c278ba4b40a3e59dac6_1_0_8 completed with success=False [pipeline.py: 1114] +05/27 07:48:44 INFO: [Worker 0] Batching and saving trajectory data for house_4682: 1 episodes [pipeline.py: 233] +05/27 07:48:44 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 07:48:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 07:48:47 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4682 [save_utils.py: 703] +05/27 07:48:47 INFO: [Worker 0] Successfully saved trajectory data for house_4682 in 2.75s (batch: 2.66s, save: 0.09s) [pipeline.py: 280] +05/27 07:48:47 WARNING: [Worker 0] No trajectory data to save for house_4682 [pipeline.py: 229] +05/27 07:48:47 INFO: [Worker 0] Worker 0 completed house 4682: 0/1 successful episodes [pipeline.py: 1243] +05/27 07:48:47 INFO: [Worker 0] Worker 0 starting house 4726 (index 50/115) [pipeline.py: 473] +05/27 07:48:47 INFO: [Worker 0] Loaded 1 episodes for house 4726 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 07:48:47 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 07:48:51 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4726_ceiling.xml [task_sampler.py: 797] +05/27 07:48:51 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4726, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 07:48:51 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 07:48:51 INFO: [Worker 0] randomize_scene: Setting poses for 29 objects [json_eval_task_sampler.py: 686] +05/27 07:48:51 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 07:48:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 07:48:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 07:48:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 07:48:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 07:48:51 INFO: [Worker 0] Sampled task 'Pick up the tall cream candle in dark holder and place it next to the beige bone dog toy' [task_sampler.py: 1136] +05/27 07:48:51 INFO: [Worker 0] Worker 0 house 4726 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 07:48:51 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 07:50:28 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 07:57:13 INFO: [Worker 0] Worker 0 house 4726 episode 0 object candle_1b82c5d62bcdb9c9e0fbc639fdc9e22a_1_0_3 completed with success=False [pipeline.py: 1114] +05/27 07:57:17 INFO: [Worker 0] Batching and saving trajectory data for house_4726: 1 episodes [pipeline.py: 233] +05/27 07:57:17 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 07:57:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 07:57:19 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4726 [save_utils.py: 703] +05/27 07:57:19 INFO: [Worker 0] Successfully saved trajectory data for house_4726 in 2.72s (batch: 2.63s, save: 0.09s) [pipeline.py: 280] +05/27 07:57:20 WARNING: [Worker 0] No trajectory data to save for house_4726 [pipeline.py: 229] +05/27 07:57:20 INFO: [Worker 0] Worker 0 completed house 4726: 0/1 successful episodes [pipeline.py: 1243] +05/27 07:57:20 INFO: [Worker 0] Worker 0 starting house 4802 (index 51/115) [pipeline.py: 473] +05/27 07:57:20 INFO: [Worker 0] Loaded 1 episodes for house 4802 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 07:57:20 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 07:57:23 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4802_ceiling.xml [task_sampler.py: 797] +05/27 07:57:23 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4802, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 07:57:23 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 07:57:23 INFO: [Worker 0] randomize_scene: Setting poses for 38 objects [json_eval_task_sampler.py: 686] +05/27 07:57:23 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 07:57:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 07:57:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 07:57:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 07:57:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 07:57:23 INFO: [Worker 0] Sampled task 'Pick up the kokeshi doll and place it next to the thick blue hardcover programming book' [task_sampler.py: 1136] +05/27 07:57:23 INFO: [Worker 0] Worker 0 house 4802 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 07:57:23 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 08:08:49 INFO: [Worker 0] Worker 0 house 4802 episode 0 object objakokeshidoll_d3c152a1c4154f279cb590b6643e1640_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 08:08:52 INFO: [Worker 0] Batching and saving trajectory data for house_4802: 1 episodes [pipeline.py: 233] +05/27 08:08:52 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 08:08:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 08:08:55 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4802 [save_utils.py: 703] +05/27 08:08:55 INFO: [Worker 0] Successfully saved trajectory data for house_4802 in 2.68s (batch: 2.59s, save: 0.09s) [pipeline.py: 280] +05/27 08:08:56 WARNING: [Worker 0] No trajectory data to save for house_4802 [pipeline.py: 229] +05/27 08:08:56 INFO: [Worker 0] Worker 0 completed house 4802: 0/1 successful episodes [pipeline.py: 1243] +05/27 08:08:56 INFO: [Worker 0] Worker 0 starting house 4882 (index 52/115) [pipeline.py: 473] +05/27 08:08:56 INFO: [Worker 0] Loaded 1 episodes for house 4882 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 08:08:56 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 08:08:57 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4882_ceiling.xml [task_sampler.py: 797] +05/27 08:08:57 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4882, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 08:08:57 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 08:08:57 INFO: [Worker 0] randomize_scene: Setting poses for 10 objects [json_eval_task_sampler.py: 686] +05/27 08:08:57 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 08:08:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 08:08:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 08:08:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 08:08:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 08:08:57 INFO: [Worker 0] Sampled task 'Pick up the fire department connection and place it next to the vintage black ricoh kr-5 camera' [task_sampler.py: 1136] +05/27 08:08:57 INFO: [Worker 0] Worker 0 house 4882 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 08:08:57 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 08:10:33 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 08:16:05 INFO: [Worker 0] Worker 0 house 4882 episode 0 object objafiredepartmentconnection_b4946020065141e5b994e0ca5ed23882_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 08:16:08 INFO: [Worker 0] Batching and saving trajectory data for house_4882: 1 episodes [pipeline.py: 233] +05/27 08:16:08 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 08:16:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 08:16:11 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4882 [save_utils.py: 703] +05/27 08:16:11 INFO: [Worker 0] Successfully saved trajectory data for house_4882 in 2.70s (batch: 2.61s, save: 0.09s) [pipeline.py: 280] +05/27 08:16:12 WARNING: [Worker 0] No trajectory data to save for house_4882 [pipeline.py: 229] +05/27 08:16:12 INFO: [Worker 0] Worker 0 completed house 4882: 0/1 successful episodes [pipeline.py: 1243] +05/27 08:16:12 INFO: [Worker 0] Worker 0 starting house 4974 (index 53/115) [pipeline.py: 473] +05/27 08:16:12 INFO: [Worker 0] Loaded 1 episodes for house 4974 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 08:16:12 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 08:16:21 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_4974_ceiling.xml [task_sampler.py: 797] +05/27 08:16:21 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=4974, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 08:16:21 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 08:16:21 INFO: [Worker 0] randomize_scene: Setting poses for 51 objects [json_eval_task_sampler.py: 686] +05/27 08:16:21 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 08:16:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 08:16:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 08:16:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 08:16:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 08:16:21 INFO: [Worker 0] Sampled task 'Pick up the arthropod and place it next to the simple light brown ceramic bowl' [task_sampler.py: 1136] +05/27 08:16:21 INFO: [Worker 0] Worker 0 house 4974 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 08:16:21 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 08:16:21 WARNING: [Worker 0] Could not find object objadecorativeribbon_3be787e16e6a4f5fb8f4830d0b2cb03b_2_0_5 in scene [object_manager.py: 1238] +05/27 08:16:21 WARNING: [Worker 0] Could not find object objaexternalharddrive_65f3fd1fc6e440459aaade5c28028f53_2_0_5 in scene [object_manager.py: 1238] +05/27 08:31:02 INFO: [Worker 0] Worker 0 house 4974 episode 0 object objamoth_a28d9a3820814921929228e03b35f041_1_0_4 completed with success=False [pipeline.py: 1114] +05/27 08:31:06 INFO: [Worker 0] Batching and saving trajectory data for house_4974: 1 episodes [pipeline.py: 233] +05/27 08:31:06 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 08:31:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 08:31:09 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_4974 [save_utils.py: 703] +05/27 08:31:09 INFO: [Worker 0] Successfully saved trajectory data for house_4974 in 2.67s (batch: 2.58s, save: 0.09s) [pipeline.py: 280] +05/27 08:31:09 WARNING: [Worker 0] No trajectory data to save for house_4974 [pipeline.py: 229] +05/27 08:31:09 INFO: [Worker 0] Worker 0 completed house 4974: 0/1 successful episodes [pipeline.py: 1243] +05/27 08:31:09 INFO: [Worker 0] Worker 0 starting house 5097 (index 54/115) [pipeline.py: 473] +05/27 08:31:09 INFO: [Worker 0] Loaded 1 episodes for house 5097 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 08:31:09 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 08:31:11 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5097_ceiling.xml [task_sampler.py: 797] +05/27 08:31:11 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5097, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 08:31:11 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 08:31:11 INFO: [Worker 0] randomize_scene: Setting poses for 17 objects [json_eval_task_sampler.py: 686] +05/27 08:31:11 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 08:31:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 08:31:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 08:31:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 08:31:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 08:31:11 INFO: [Worker 0] Sampled task 'Pick up the chocolate bunny and place it next to the red package' [task_sampler.py: 1136] +05/27 08:31:11 INFO: [Worker 0] Worker 0 house 5097 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 08:31:11 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 08:32:48 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 08:38:05 INFO: [Worker 0] Worker 0 house 5097 episode 0 object objachocolatebunny_e58af28ad5c3463bb40a774052541352_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 08:38:08 INFO: [Worker 0] Batching and saving trajectory data for house_5097: 1 episodes [pipeline.py: 233] +05/27 08:38:08 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 08:38:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 08:38:11 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5097 [save_utils.py: 703] +05/27 08:38:11 INFO: [Worker 0] Successfully saved trajectory data for house_5097 in 2.45s (batch: 2.36s, save: 0.09s) [pipeline.py: 280] +05/27 08:38:11 WARNING: [Worker 0] No trajectory data to save for house_5097 [pipeline.py: 229] +05/27 08:38:11 INFO: [Worker 0] Worker 0 completed house 5097: 0/1 successful episodes [pipeline.py: 1243] +05/27 08:38:11 INFO: [Worker 0] Worker 0 starting house 5172 (index 55/115) [pipeline.py: 473] +05/27 08:38:11 INFO: [Worker 0] Loaded 1 episodes for house 5172 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 08:38:11 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 08:38:30 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5172_ceiling.xml [task_sampler.py: 797] +05/27 08:38:30 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5172, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 08:38:30 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 08:38:30 INFO: [Worker 0] randomize_scene: Setting poses for 67 objects [json_eval_task_sampler.py: 686] +05/27 08:38:30 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 08:38:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 08:38:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 08:38:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 08:38:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 08:38:30 INFO: [Worker 0] Sampled task 'Pick up the black zigzag crown with green gemstone and place it next to the green vase' [task_sampler.py: 1136] +05/27 08:38:30 INFO: [Worker 0] Worker 0 house 5172 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 08:38:30 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 08:38:31 WARNING: [Worker 0] Could not find object vase_d568e4c5c2948c69c05d527517276b06_1_0_4 in scene [object_manager.py: 1238] +05/27 08:40:06 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 08:51:15 INFO: [Worker 0] Worker 0 house 5172 episode 0 object objadecorativecrown_c5a38852c7484fb1aeeae0aea2509415_1_0_9 completed with success=False [pipeline.py: 1114] +05/27 08:51:18 INFO: [Worker 0] Batching and saving trajectory data for house_5172: 1 episodes [pipeline.py: 233] +05/27 08:51:18 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 08:51:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 08:51:21 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5172 [save_utils.py: 703] +05/27 08:51:21 INFO: [Worker 0] Successfully saved trajectory data for house_5172 in 2.64s (batch: 2.55s, save: 0.09s) [pipeline.py: 280] +05/27 08:51:22 WARNING: [Worker 0] No trajectory data to save for house_5172 [pipeline.py: 229] +05/27 08:51:22 INFO: [Worker 0] Worker 0 completed house 5172: 0/1 successful episodes [pipeline.py: 1243] +05/27 08:51:22 INFO: [Worker 0] Worker 0 starting house 5211 (index 56/115) [pipeline.py: 473] +05/27 08:51:22 INFO: [Worker 0] Loaded 1 episodes for house 5211 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 08:51:22 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 08:51:49 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5211_ceiling.xml [task_sampler.py: 797] +05/27 08:51:49 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5211, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 08:51:49 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 08:51:49 INFO: [Worker 0] randomize_scene: Setting poses for 88 objects [json_eval_task_sampler.py: 686] +05/27 08:51:49 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 08:51:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 08:51:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 08:51:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 08:51:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 08:51:49 INFO: [Worker 0] Sampled task 'Pick up the glossy deep red arrow sign and place it next to the clear tapered plastic cup' [task_sampler.py: 1136] +05/27 08:51:49 INFO: [Worker 0] Worker 0 house 5211 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 08:51:49 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 09:03:53 INFO: [Worker 0] Worker 0 house 5211 episode 0 object objadecorativearrow_bdc5664a76f74806b5ae78dd7793fbef_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 09:03:56 INFO: [Worker 0] Batching and saving trajectory data for house_5211: 1 episodes [pipeline.py: 233] +05/27 09:03:56 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 09:03:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 09:03:59 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5211 [save_utils.py: 703] +05/27 09:03:59 INFO: [Worker 0] Successfully saved trajectory data for house_5211 in 2.44s (batch: 2.35s, save: 0.09s) [pipeline.py: 280] +05/27 09:03:59 WARNING: [Worker 0] No trajectory data to save for house_5211 [pipeline.py: 229] +05/27 09:03:59 INFO: [Worker 0] Worker 0 completed house 5211: 0/1 successful episodes [pipeline.py: 1243] +05/27 09:03:59 INFO: [Worker 0] Worker 0 starting house 5388 (index 57/115) [pipeline.py: 473] +05/27 09:03:59 INFO: [Worker 0] Loaded 1 episodes for house 5388 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 09:03:59 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 09:04:35 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5388_ceiling.xml [task_sampler.py: 797] +05/27 09:04:35 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5388, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 09:04:35 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 09:04:35 INFO: [Worker 0] randomize_scene: Setting poses for 107 objects [json_eval_task_sampler.py: 686] +05/27 09:04:35 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 09:04:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 09:04:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 09:04:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 09:04:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 09:04:35 INFO: [Worker 0] Sampled task 'Pick up the green and yellow sponge and place it next to the spray bottle' [task_sampler.py: 1136] +05/27 09:04:35 INFO: [Worker 0] Worker 0 house 5388 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 09:04:35 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 09:25:58 INFO: [Worker 0] Worker 0 house 5388 episode 0 object objacleaningsponge_97aee64edf0c4521b82416f3b30c61ce_1_0_9 completed with success=False [pipeline.py: 1114] +05/27 09:26:02 INFO: [Worker 0] Batching and saving trajectory data for house_5388: 1 episodes [pipeline.py: 233] +05/27 09:26:02 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 09:26:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 09:26:05 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5388 [save_utils.py: 703] +05/27 09:26:05 INFO: [Worker 0] Successfully saved trajectory data for house_5388 in 2.81s (batch: 2.72s, save: 0.09s) [pipeline.py: 280] +05/27 09:26:05 WARNING: [Worker 0] No trajectory data to save for house_5388 [pipeline.py: 229] +05/27 09:26:05 INFO: [Worker 0] Worker 0 completed house 5388: 0/1 successful episodes [pipeline.py: 1243] +05/27 09:26:05 INFO: [Worker 0] Worker 0 starting house 5464 (index 58/115) [pipeline.py: 473] +05/27 09:26:05 INFO: [Worker 0] Loaded 1 episodes for house 5464 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 09:26:05 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 09:26:20 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5464_ceiling.xml [task_sampler.py: 797] +05/27 09:26:20 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5464, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 09:26:20 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 09:26:20 INFO: [Worker 0] randomize_scene: Setting poses for 41 objects [json_eval_task_sampler.py: 686] +05/27 09:26:20 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 09:26:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 09:26:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 09:26:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 09:26:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 09:26:20 INFO: [Worker 0] Sampled task 'Pick up the brown wooden screwdriver and place it next to the blue square plate' [task_sampler.py: 1136] +05/27 09:26:20 INFO: [Worker 0] Worker 0 house 5464 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 09:26:20 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 09:26:20 WARNING: [Worker 0] Could not find object objalemon_ab2625342f2c43fe8a383f8f9b4917ab_1_0_6 in scene [object_manager.py: 1238] +05/27 09:26:20 WARNING: [Worker 0] Could not find object statue_82f73072d5461ff460bb390c3adf02fa_1_0_7 in scene [object_manager.py: 1238] +05/27 09:27:59 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 09:30:28 INFO: [Worker 0] Worker 0 house 5464 episode 0 object objascrewdriver_32be7ce20fcb4fa8af6f0aa130c3ff44_1_0_6 completed with success=True [pipeline.py: 1114] +05/27 09:30:32 INFO: [Worker 0] Batching and saving trajectory data for house_5464: 1 episodes [pipeline.py: 233] +05/27 09:30:32 INFO: [Worker 0] Preparing episode data: 134 timesteps [save_utils.py: 284] +05/27 09:30:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 09:30:35 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5464 [save_utils.py: 703] +05/27 09:30:35 INFO: [Worker 0] Successfully saved trajectory data for house_5464 in 2.51s (batch: 2.46s, save: 0.04s) [pipeline.py: 280] +05/27 09:30:35 WARNING: [Worker 0] No trajectory data to save for house_5464 [pipeline.py: 229] +05/27 09:30:35 INFO: [Worker 0] Worker 0 completed house 5464: 1/1 successful episodes [pipeline.py: 1243] +05/27 09:30:35 INFO: [Worker 0] Worker 0 starting house 5548 (index 59/115) [pipeline.py: 473] +05/27 09:30:35 INFO: [Worker 0] Loaded 1 episodes for house 5548 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 09:30:35 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 09:32:26 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5548_ceiling.xml [task_sampler.py: 797] +05/27 09:32:26 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5548, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 09:32:26 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 09:32:26 INFO: [Worker 0] randomize_scene: Setting poses for 35 objects [json_eval_task_sampler.py: 686] +05/27 09:32:26 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 09:32:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 09:32:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 09:32:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 09:32:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 09:32:26 INFO: [Worker 0] Sampled task 'Pick up the square brown disposable container with chopsticks and place it next to the natural covering' [task_sampler.py: 1136] +05/27 09:32:26 INFO: [Worker 0] Worker 0 house 5548 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 09:32:26 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 09:42:38 INFO: [Worker 0] Worker 0 house 5548 episode 0 object objafoodcontainer_2b8f5805bb0146158ede9d2b4d9d98ec_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 09:42:41 INFO: [Worker 0] Batching and saving trajectory data for house_5548: 1 episodes [pipeline.py: 233] +05/27 09:42:41 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 09:42:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 09:42:43 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5548 [save_utils.py: 703] +05/27 09:42:43 INFO: [Worker 0] Successfully saved trajectory data for house_5548 in 2.35s (batch: 2.26s, save: 0.09s) [pipeline.py: 280] +05/27 09:42:44 WARNING: [Worker 0] No trajectory data to save for house_5548 [pipeline.py: 229] +05/27 09:42:44 INFO: [Worker 0] Worker 0 completed house 5548: 0/1 successful episodes [pipeline.py: 1243] +05/27 09:42:44 INFO: [Worker 0] Worker 0 starting house 5618 (index 60/115) [pipeline.py: 473] +05/27 09:42:44 INFO: [Worker 0] Loaded 1 episodes for house 5618 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 09:42:44 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 09:42:50 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5618_ceiling.xml [task_sampler.py: 797] +05/27 09:42:50 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5618, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 09:42:50 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 09:42:50 INFO: [Worker 0] randomize_scene: Setting poses for 45 objects [json_eval_task_sampler.py: 686] +05/27 09:42:50 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 09:42:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 09:42:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 09:42:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 09:42:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 09:42:50 INFO: [Worker 0] Sampled task 'Pick up the black and red pixelated figure and place it next to the small red barn model with windows' [task_sampler.py: 1136] +05/27 09:42:50 INFO: [Worker 0] Worker 0 house 5618 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 09:42:50 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 09:42:50 WARNING: [Worker 0] Could not find object objahammer_3812462cf5424282a7256bb76365dd68_1_0_6 in scene [object_manager.py: 1238] +05/27 09:42:50 WARNING: [Worker 0] Could not find object vase_e3478e74916159222cb33c5c329dc2b8_1_0_6 in scene [object_manager.py: 1238] +05/27 09:53:48 INFO: [Worker 0] Worker 0 house 5618 episode 0 object objaabstractfigure_2b7ff505ad10442ea162476b4e00e408_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 09:53:51 INFO: [Worker 0] Batching and saving trajectory data for house_5618: 1 episodes [pipeline.py: 233] +05/27 09:53:51 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 09:53:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 09:53:53 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5618 [save_utils.py: 703] +05/27 09:53:53 INFO: [Worker 0] Successfully saved trajectory data for house_5618 in 2.48s (batch: 2.39s, save: 0.09s) [pipeline.py: 280] +05/27 09:53:54 WARNING: [Worker 0] No trajectory data to save for house_5618 [pipeline.py: 229] +05/27 09:53:54 INFO: [Worker 0] Worker 0 completed house 5618: 0/1 successful episodes [pipeline.py: 1243] +05/27 09:53:54 INFO: [Worker 0] Worker 0 starting house 5672 (index 61/115) [pipeline.py: 473] +05/27 09:53:54 INFO: [Worker 0] Loaded 1 episodes for house 5672 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 09:53:54 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 09:54:00 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5672_ceiling.xml [task_sampler.py: 797] +05/27 09:54:00 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5672, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 09:54:00 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 09:54:00 INFO: [Worker 0] randomize_scene: Setting poses for 64 objects [json_eval_task_sampler.py: 686] +05/27 09:54:00 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 09:54:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 09:54:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 09:54:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 09:54:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 09:54:00 INFO: [Worker 0] Sampled task 'Pick up the turquoise decorative hourglass with beads and place it next to the yellow wooden pencil' [task_sampler.py: 1136] +05/27 09:54:00 INFO: [Worker 0] Worker 0 house 5672 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 09:54:00 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 09:55:37 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 10:09:29 INFO: [Worker 0] Worker 0 house 5672 episode 0 object objadecorativehourglass_b7df02cc3f844d2a9b39d4f215c3931d_1_0_9 completed with success=False [pipeline.py: 1114] +05/27 10:09:33 INFO: [Worker 0] Batching and saving trajectory data for house_5672: 1 episodes [pipeline.py: 233] +05/27 10:09:33 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 10:09:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 10:09:36 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5672 [save_utils.py: 703] +05/27 10:09:36 INFO: [Worker 0] Successfully saved trajectory data for house_5672 in 2.73s (batch: 2.64s, save: 0.09s) [pipeline.py: 280] +05/27 10:09:36 WARNING: [Worker 0] No trajectory data to save for house_5672 [pipeline.py: 229] +05/27 10:09:36 INFO: [Worker 0] Worker 0 completed house 5672: 0/1 successful episodes [pipeline.py: 1243] +05/27 10:09:36 INFO: [Worker 0] Worker 0 starting house 5786 (index 62/115) [pipeline.py: 473] +05/27 10:09:36 INFO: [Worker 0] Loaded 1 episodes for house 5786 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 10:09:36 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 10:10:31 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5786_ceiling.xml [task_sampler.py: 797] +05/27 10:10:31 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5786, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 10:10:31 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 10:10:31 INFO: [Worker 0] randomize_scene: Setting poses for 69 objects [json_eval_task_sampler.py: 686] +05/27 10:10:31 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 10:10:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 10:10:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 10:10:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 10:10:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 10:10:31 INFO: [Worker 0] Sampled task 'Pick up the yellow pencil with pink eraser and place it next to the white pillow' [task_sampler.py: 1136] +05/27 10:10:31 INFO: [Worker 0] Worker 0 house 5786 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 10:10:31 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 10:12:12 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 10:24:45 INFO: [Worker 0] Worker 0 house 5786 episode 0 object objapencil_a405129f76194666aace56c08219e94c_1_0_9 completed with success=False [pipeline.py: 1114] +05/27 10:24:49 INFO: [Worker 0] Batching and saving trajectory data for house_5786: 1 episodes [pipeline.py: 233] +05/27 10:24:49 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 10:24:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 10:24:51 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5786 [save_utils.py: 703] +05/27 10:24:51 INFO: [Worker 0] Successfully saved trajectory data for house_5786 in 2.43s (batch: 2.34s, save: 0.09s) [pipeline.py: 280] +05/27 10:24:52 WARNING: [Worker 0] No trajectory data to save for house_5786 [pipeline.py: 229] +05/27 10:24:52 INFO: [Worker 0] Worker 0 completed house 5786: 0/1 successful episodes [pipeline.py: 1243] +05/27 10:24:52 INFO: [Worker 0] Worker 0 starting house 5898 (index 63/115) [pipeline.py: 473] +05/27 10:24:52 INFO: [Worker 0] Loaded 1 episodes for house 5898 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 10:24:52 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 10:24:55 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5898_ceiling.xml [task_sampler.py: 797] +05/27 10:24:55 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5898, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 10:24:55 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 10:24:55 INFO: [Worker 0] randomize_scene: Setting poses for 49 objects [json_eval_task_sampler.py: 686] +05/27 10:24:55 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 10:24:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 10:24:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 10:24:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 10:24:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 10:24:55 INFO: [Worker 0] Sampled task 'Pick up the small ceramic church model with steeple and place it next to the bulbous shiny gold vase' [task_sampler.py: 1136] +05/27 10:24:55 INFO: [Worker 0] Worker 0 house 5898 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 10:24:55 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 10:24:55 WARNING: [Worker 0] Could not find object objaguitareffectspedal_083eb9b9eb564701820d3a79377c77ce_1_0_5 in scene [object_manager.py: 1238] +05/27 10:24:55 WARNING: [Worker 0] Could not find object objasoap_539c979c75b34576b75f3383e96eadb5_1_0_5 in scene [object_manager.py: 1238] +05/27 10:26:34 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 10:36:56 INFO: [Worker 0] Worker 0 house 5898 episode 0 object objaceramicmodel_45b9548330234d4b93cae76cd2f00521_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 10:36:59 INFO: [Worker 0] Batching and saving trajectory data for house_5898: 1 episodes [pipeline.py: 233] +05/27 10:36:59 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 10:37:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 10:37:02 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5898 [save_utils.py: 703] +05/27 10:37:02 INFO: [Worker 0] Successfully saved trajectory data for house_5898 in 2.41s (batch: 2.32s, save: 0.09s) [pipeline.py: 280] +05/27 10:37:02 WARNING: [Worker 0] No trajectory data to save for house_5898 [pipeline.py: 229] +05/27 10:37:02 INFO: [Worker 0] Worker 0 completed house 5898: 0/1 successful episodes [pipeline.py: 1243] +05/27 10:37:02 INFO: [Worker 0] Worker 0 starting house 5959 (index 64/115) [pipeline.py: 473] +05/27 10:37:02 INFO: [Worker 0] Loaded 1 episodes for house 5959 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 10:37:02 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 10:37:09 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_5959_ceiling.xml [task_sampler.py: 797] +05/27 10:37:09 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=5959, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 10:37:09 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 10:37:09 INFO: [Worker 0] randomize_scene: Setting poses for 55 objects [json_eval_task_sampler.py: 686] +05/27 10:37:09 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 10:37:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 10:37:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 10:37:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 10:37:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 10:37:09 INFO: [Worker 0] Sampled task 'Pick up the dark metal medieval torch and place it next to the spray bottle' [task_sampler.py: 1136] +05/27 10:37:10 INFO: [Worker 0] Worker 0 house 5959 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 10:37:10 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 10:38:50 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 10:40:16 INFO: [Worker 0] Worker 0 house 5959 episode 0 object objadecorativetorch_fc829f78d01c451a8f3c808099691225_1_0_5 completed with success=False [pipeline.py: 1114] +05/27 10:40:19 INFO: [Worker 0] Batching and saving trajectory data for house_5959: 1 episodes [pipeline.py: 233] +05/27 10:40:19 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 10:40:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 10:40:22 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_5959 [save_utils.py: 703] +05/27 10:40:22 INFO: [Worker 0] Successfully saved trajectory data for house_5959 in 2.46s (batch: 2.36s, save: 0.10s) [pipeline.py: 280] +05/27 10:40:22 WARNING: [Worker 0] No trajectory data to save for house_5959 [pipeline.py: 229] +05/27 10:40:22 INFO: [Worker 0] Worker 0 completed house 5959: 0/1 successful episodes [pipeline.py: 1243] +05/27 10:40:22 INFO: [Worker 0] Worker 0 starting house 6069 (index 65/115) [pipeline.py: 473] +05/27 10:40:22 INFO: [Worker 0] Loaded 1 episodes for house 6069 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 10:40:22 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 10:40:35 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6069_ceiling.xml [task_sampler.py: 797] +05/27 10:40:35 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6069, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 10:40:35 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 10:40:35 INFO: [Worker 0] randomize_scene: Setting poses for 71 objects [json_eval_task_sampler.py: 686] +05/27 10:40:35 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 10:40:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 10:40:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 10:40:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 10:40:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 10:40:35 INFO: [Worker 0] Sampled task 'Pick up the wedge shape and place it next to the crockery' [task_sampler.py: 1136] +05/27 10:40:35 INFO: [Worker 0] Worker 0 house 6069 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 10:40:35 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 10:40:35 WARNING: [Worker 0] Could not find object objacoil_c4fcd63753e740aa9efac5edfe7a7506_1_0_7 in scene [object_manager.py: 1238] +05/27 10:40:35 WARNING: [Worker 0] Could not find object objadentures_46145e0221e94a3185b215c07d0f4340_1_0_7 in scene [object_manager.py: 1238] +05/27 10:40:35 WARNING: [Worker 0] Could not find object objaminiaturetrafficlight_30f361478c8143fbb463dcf9b2a0cb61_1_0_8 in scene [object_manager.py: 1238] +05/27 10:40:35 WARNING: [Worker 0] Could not find object apple_e4633a6eeab3bd9cfd60227d76a684e8_1_0_8 in scene [object_manager.py: 1238] +05/27 10:56:05 INFO: [Worker 0] Worker 0 house 6069 episode 0 object objadecorativewedge_6c209105d3fe4d7db6a3520ceb255e96_2_0_8 completed with success=False [pipeline.py: 1114] +05/27 10:56:08 INFO: [Worker 0] Batching and saving trajectory data for house_6069: 1 episodes [pipeline.py: 233] +05/27 10:56:08 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 10:56:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 10:56:10 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6069 [save_utils.py: 703] +05/27 10:56:10 INFO: [Worker 0] Successfully saved trajectory data for house_6069 in 2.42s (batch: 2.33s, save: 0.09s) [pipeline.py: 280] +05/27 10:56:11 WARNING: [Worker 0] No trajectory data to save for house_6069 [pipeline.py: 229] +05/27 10:56:11 INFO: [Worker 0] Worker 0 completed house 6069: 0/1 successful episodes [pipeline.py: 1243] +05/27 10:56:11 INFO: [Worker 0] Worker 0 starting house 6144 (index 66/115) [pipeline.py: 473] +05/27 10:56:11 INFO: [Worker 0] Loaded 1 episodes for house 6144 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 10:56:11 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 10:56:21 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6144_ceiling.xml [task_sampler.py: 797] +05/27 10:56:21 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6144, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 10:56:21 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 10:56:21 INFO: [Worker 0] randomize_scene: Setting poses for 29 objects [json_eval_task_sampler.py: 686] +05/27 10:56:21 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 10:56:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 10:56:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 10:56:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 10:56:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 10:56:21 INFO: [Worker 0] Sampled task 'Pick up the sleek metallic wall hook and place it next to the tin hat' [task_sampler.py: 1136] +05/27 10:56:21 INFO: [Worker 0] Worker 0 house 6144 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 10:56:21 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 10:58:00 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 11:06:18 INFO: [Worker 0] Worker 0 house 6144 episode 0 object objawallhook_f289067f678d44eb9ac1446a22d24d06_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 11:06:21 INFO: [Worker 0] Batching and saving trajectory data for house_6144: 1 episodes [pipeline.py: 233] +05/27 11:06:21 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 11:06:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 11:06:24 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6144 [save_utils.py: 703] +05/27 11:06:24 INFO: [Worker 0] Successfully saved trajectory data for house_6144 in 2.74s (batch: 2.65s, save: 0.09s) [pipeline.py: 280] +05/27 11:06:25 WARNING: [Worker 0] No trajectory data to save for house_6144 [pipeline.py: 229] +05/27 11:06:25 INFO: [Worker 0] Worker 0 completed house 6144: 0/1 successful episodes [pipeline.py: 1243] +05/27 11:06:25 INFO: [Worker 0] Worker 0 starting house 6208 (index 67/115) [pipeline.py: 473] +05/27 11:06:25 INFO: [Worker 0] Loaded 1 episodes for house 6208 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 11:06:25 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 11:06:31 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6208_ceiling.xml [task_sampler.py: 797] +05/27 11:06:31 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6208, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 11:06:31 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 11:06:31 INFO: [Worker 0] randomize_scene: Setting poses for 48 objects [json_eval_task_sampler.py: 686] +05/27 11:06:31 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 11:06:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 11:06:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 11:06:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 11:06:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 11:06:31 INFO: [Worker 0] Sampled task 'Pick up the minimalist matte rectangular name plaque and place it next to the vintage metal box' [task_sampler.py: 1136] +05/27 11:06:31 INFO: [Worker 0] Worker 0 house 6208 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 11:06:31 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 11:06:32 WARNING: [Worker 0] Could not find object objaheadband_d49545a5b65a40bcade1370176d8950a_1_0_5 in scene [object_manager.py: 1238] +05/27 11:06:32 WARNING: [Worker 0] Could not find object atomizer_c60254aae031ecd4e316a5add61459a4_1_0_5 in scene [object_manager.py: 1238] +05/27 11:06:32 WARNING: [Worker 0] Could not find object objasqueegee_7003b80d192b4515bab588a29bcd86d3_1_0_7 in scene [object_manager.py: 1238] +05/27 11:08:06 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 11:21:18 INFO: [Worker 0] Worker 0 house 6208 episode 0 object objaplaque_42aafcfc945b4f8d98e5401ca29051cc_1_0_9 completed with success=False [pipeline.py: 1114] +05/27 11:21:22 INFO: [Worker 0] Batching and saving trajectory data for house_6208: 1 episodes [pipeline.py: 233] +05/27 11:21:22 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 11:21:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 11:21:24 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6208 [save_utils.py: 703] +05/27 11:21:24 INFO: [Worker 0] Successfully saved trajectory data for house_6208 in 2.63s (batch: 2.55s, save: 0.09s) [pipeline.py: 280] +05/27 11:21:25 WARNING: [Worker 0] No trajectory data to save for house_6208 [pipeline.py: 229] +05/27 11:21:25 INFO: [Worker 0] Worker 0 completed house 6208: 0/1 successful episodes [pipeline.py: 1243] +05/27 11:21:25 INFO: [Worker 0] Worker 0 starting house 6271 (index 68/115) [pipeline.py: 473] +05/27 11:21:25 INFO: [Worker 0] Loaded 1 episodes for house 6271 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 11:21:25 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 11:21:38 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6271_ceiling.xml [task_sampler.py: 797] +05/27 11:21:38 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6271, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 11:21:38 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 11:21:38 INFO: [Worker 0] randomize_scene: Setting poses for 105 objects [json_eval_task_sampler.py: 686] +05/27 11:21:38 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 11:21:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 11:21:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 11:21:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 11:21:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 11:21:38 INFO: [Worker 0] Sampled task 'Pick up the vintage gray camcorder with handle and place it next to the blue hardcover book' [task_sampler.py: 1136] +05/27 11:21:38 INFO: [Worker 0] Worker 0 house 6271 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 11:21:38 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 11:42:31 INFO: [Worker 0] Worker 0 house 6271 episode 0 object objacamcorder_54c2ec44421f4c9faacd026b6aba1873_1_0_4 completed with success=False [pipeline.py: 1114] +05/27 11:42:34 INFO: [Worker 0] Batching and saving trajectory data for house_6271: 1 episodes [pipeline.py: 233] +05/27 11:42:34 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 11:42:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 11:42:37 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6271 [save_utils.py: 703] +05/27 11:42:37 INFO: [Worker 0] Successfully saved trajectory data for house_6271 in 2.43s (batch: 2.34s, save: 0.09s) [pipeline.py: 280] +05/27 11:42:37 WARNING: [Worker 0] No trajectory data to save for house_6271 [pipeline.py: 229] +05/27 11:42:37 INFO: [Worker 0] Worker 0 completed house 6271: 0/1 successful episodes [pipeline.py: 1243] +05/27 11:42:37 INFO: [Worker 0] Worker 0 starting house 6325 (index 69/115) [pipeline.py: 473] +05/27 11:42:37 INFO: [Worker 0] Loaded 1 episodes for house 6325 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 11:42:37 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 11:42:42 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/27 11:42:45 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6325_ceiling.xml [task_sampler.py: 797] +05/27 11:42:45 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6325, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 11:42:45 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 11:42:45 INFO: [Worker 0] randomize_scene: Setting poses for 67 objects [json_eval_task_sampler.py: 686] +05/27 11:42:45 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 11:42:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 11:42:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 11:42:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 11:42:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 11:42:45 INFO: [Worker 0] Sampled task 'Pick up the turquoise cardboard notebook and place it next to the driftwood' [task_sampler.py: 1136] +05/27 11:42:45 INFO: [Worker 0] Worker 0 house 6325 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 11:42:45 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 11:42:45 WARNING: [Worker 0] Could not find object objaceilingpanel_8bde878be8dd4fb7b6914db9c4dd31bb_1_0_9 in scene [object_manager.py: 1238] +05/27 11:44:24 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 11:54:41 INFO: [Worker 0] Worker 0 house 6325 episode 0 object objanotebook_a8c59f42000e4d3a9f483c289fd09512_1_0_8 completed with success=False [pipeline.py: 1114] +05/27 11:54:44 INFO: [Worker 0] Batching and saving trajectory data for house_6325: 1 episodes [pipeline.py: 233] +05/27 11:54:44 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 11:54:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 11:54:47 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6325 [save_utils.py: 703] +05/27 11:54:47 INFO: [Worker 0] Successfully saved trajectory data for house_6325 in 2.65s (batch: 2.56s, save: 0.09s) [pipeline.py: 280] +05/27 11:54:48 WARNING: [Worker 0] No trajectory data to save for house_6325 [pipeline.py: 229] +05/27 11:54:48 INFO: [Worker 0] Worker 0 completed house 6325: 0/1 successful episodes [pipeline.py: 1243] +05/27 11:54:48 INFO: [Worker 0] Worker 0 starting house 6396 (index 70/115) [pipeline.py: 473] +05/27 11:54:48 INFO: [Worker 0] Loaded 1 episodes for house 6396 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 11:54:48 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 11:54:54 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/27 11:54:58 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6396_ceiling.xml [task_sampler.py: 797] +05/27 11:54:58 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6396, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 11:54:58 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 11:54:58 INFO: [Worker 0] randomize_scene: Setting poses for 75 objects [json_eval_task_sampler.py: 686] +05/27 11:54:58 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 11:54:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 11:54:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 11:54:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 11:54:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 11:54:58 INFO: [Worker 0] Sampled task 'Pick up the ceramiccat and place it next to the dark teal box' [task_sampler.py: 1136] +05/27 11:54:58 INFO: [Worker 0] Worker 0 house 6396 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 11:54:58 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 11:54:58 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene [object_manager.py: 1238] +05/27 11:56:34 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 12:12:52 INFO: [Worker 0] Worker 0 house 6396 episode 0 object objaceramiccat_eda025dda9404765b762d841da229c33_1_0_4 completed with success=False [pipeline.py: 1114] +05/27 12:12:56 INFO: [Worker 0] Batching and saving trajectory data for house_6396: 1 episodes [pipeline.py: 233] +05/27 12:12:56 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 12:12:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 12:12:58 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6396 [save_utils.py: 703] +05/27 12:12:58 INFO: [Worker 0] Successfully saved trajectory data for house_6396 in 2.41s (batch: 2.32s, save: 0.09s) [pipeline.py: 280] +05/27 12:12:58 WARNING: [Worker 0] No trajectory data to save for house_6396 [pipeline.py: 229] +05/27 12:12:58 INFO: [Worker 0] Worker 0 completed house 6396: 0/1 successful episodes [pipeline.py: 1243] +05/27 12:12:58 INFO: [Worker 0] Worker 0 starting house 6485 (index 71/115) [pipeline.py: 473] +05/27 12:12:58 INFO: [Worker 0] Loaded 2 episodes for house 6485 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 12:12:58 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 12:13:13 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6485_ceiling.xml [task_sampler.py: 797] +05/27 12:13:13 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6485, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 12:13:13 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 12:13:13 INFO: [Worker 0] randomize_scene: Setting poses for 65 objects [json_eval_task_sampler.py: 686] +05/27 12:13:13 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 12:13:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 12:13:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 12:13:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 12:13:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 12:13:13 INFO: [Worker 0] Sampled task 'Pick up the holding device and place it next to the bulbous shiny gold metallic vase' [task_sampler.py: 1136] +05/27 12:13:13 INFO: [Worker 0] Worker 0 house 6485 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/27 12:13:13 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 12:14:53 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 12:29:03 INFO: [Worker 0] Worker 0 house 6485 episode 0 object objahandhelddevice_fd9fdf81ab624a66897bbd8ac299e26f_1_0_4 completed with success=False [pipeline.py: 1114] +05/27 12:29:07 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 12:29:12 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6485_ceiling.xml [task_sampler.py: 797] +05/27 12:29:12 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6485, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 12:29:12 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 12:29:12 INFO: [Worker 0] randomize_scene: Setting poses for 65 objects [json_eval_task_sampler.py: 686] +05/27 12:29:12 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 12:29:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 12:29:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 12:29:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 12:29:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 12:29:12 INFO: [Worker 0] Sampled task 'Pick up the sleek black handheld vacuum with yellow and place it next to the bulbous shiny gold vase' [task_sampler.py: 1136] +05/27 12:29:12 INFO: [Worker 0] Worker 0 house 6485 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/27 12:29:12 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 12:30:48 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 12:44:51 INFO: [Worker 0] Worker 0 house 6485 episode 1 object objahandheldvacuumcleaner_61bd367277d2471bbe28c9ff7ef227a1_1_0_4 completed with success=False [pipeline.py: 1114] +05/27 12:44:55 INFO: [Worker 0] Batching and saving trajectory data for house_6485: 2 episodes [pipeline.py: 233] +05/27 12:44:55 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 12:44:58 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 12:45:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 12:45:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 12:45:01 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6485 [save_utils.py: 703] +05/27 12:45:01 INFO: [Worker 0] Successfully saved trajectory data for house_6485 in 5.64s (batch: 5.41s, save: 0.23s) [pipeline.py: 280] +05/27 12:45:01 WARNING: [Worker 0] No trajectory data to save for house_6485 [pipeline.py: 229] +05/27 12:45:01 INFO: [Worker 0] Worker 0 completed house 6485: 0/2 successful episodes [pipeline.py: 1243] +05/27 12:45:01 INFO: [Worker 0] Worker 0 starting house 6492 (index 72/115) [pipeline.py: 473] +05/27 12:45:01 INFO: [Worker 0] Loaded 1 episodes for house 6492 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 12:45:01 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 12:45:06 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6492_ceiling.xml [task_sampler.py: 797] +05/27 12:45:06 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6492, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 12:45:06 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 12:45:06 INFO: [Worker 0] randomize_scene: Setting poses for 49 objects [json_eval_task_sampler.py: 686] +05/27 12:45:06 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 12:45:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 12:45:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 12:45:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 12:45:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 12:45:06 INFO: [Worker 0] Sampled task 'Pick up the black rubber air blower and place it next to the spray paint' [task_sampler.py: 1136] +05/27 12:45:06 INFO: [Worker 0] Worker 0 house 6492 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 12:45:06 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 12:45:06 WARNING: [Worker 0] Could not find object objaexternaldvddrive_d9b63231980e4719aca47048767062af_1_0_5 in scene [object_manager.py: 1238] +05/27 12:45:06 WARNING: [Worker 0] Could not find object objapocketwatch_1dbb7462a3e04e918023f6fec7743ee2_1_0_5 in scene [object_manager.py: 1238] +05/27 12:58:31 INFO: [Worker 0] Worker 0 house 6492 episode 0 object objaairblower_c1894126b3394345835758d674b7435e_2_0_4 completed with success=False [pipeline.py: 1114] +05/27 12:58:35 INFO: [Worker 0] Batching and saving trajectory data for house_6492: 1 episodes [pipeline.py: 233] +05/27 12:58:35 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 12:58:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 12:58:37 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6492 [save_utils.py: 703] +05/27 12:58:37 INFO: [Worker 0] Successfully saved trajectory data for house_6492 in 2.45s (batch: 2.36s, save: 0.09s) [pipeline.py: 280] +05/27 12:58:38 WARNING: [Worker 0] No trajectory data to save for house_6492 [pipeline.py: 229] +05/27 12:58:38 INFO: [Worker 0] Worker 0 completed house 6492: 0/1 successful episodes [pipeline.py: 1243] +05/27 12:58:38 INFO: [Worker 0] Worker 0 starting house 6591 (index 73/115) [pipeline.py: 473] +05/27 12:58:38 INFO: [Worker 0] Loaded 1 episodes for house 6591 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 12:58:38 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 12:59:04 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6591_ceiling.xml [task_sampler.py: 797] +05/27 12:59:04 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6591, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 12:59:04 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 12:59:04 INFO: [Worker 0] randomize_scene: Setting poses for 78 objects [json_eval_task_sampler.py: 686] +05/27 12:59:04 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 12:59:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 12:59:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 12:59:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 12:59:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 12:59:04 INFO: [Worker 0] Sampled task 'Pick up the fiber cleaver and place it next to the slim blue phone device' [task_sampler.py: 1136] +05/27 12:59:04 INFO: [Worker 0] Worker 0 house 6591 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 12:59:04 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 12:59:04 WARNING: [Worker 0] Could not find object pencil_2c624e64d6f8a208a3a089ad77d16aa1_1_0_3 in scene [object_manager.py: 1238] +05/27 13:18:33 INFO: [Worker 0] Worker 0 house 6591 episode 0 object objafibercleaver_1b640217473f40508802bc5a114f876d_1_0_8 completed with success=False [pipeline.py: 1114] +05/27 13:18:37 INFO: [Worker 0] Batching and saving trajectory data for house_6591: 1 episodes [pipeline.py: 233] +05/27 13:18:37 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 13:18:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 13:18:39 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6591 [save_utils.py: 703] +05/27 13:18:39 INFO: [Worker 0] Successfully saved trajectory data for house_6591 in 2.56s (batch: 2.46s, save: 0.10s) [pipeline.py: 280] +05/27 13:18:40 WARNING: [Worker 0] No trajectory data to save for house_6591 [pipeline.py: 229] +05/27 13:18:40 INFO: [Worker 0] Worker 0 completed house 6591: 0/1 successful episodes [pipeline.py: 1243] +05/27 13:18:40 INFO: [Worker 0] Worker 0 starting house 6721 (index 74/115) [pipeline.py: 473] +05/27 13:18:40 INFO: [Worker 0] Loaded 1 episodes for house 6721 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 13:18:40 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 13:18:59 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6721_ceiling.xml [task_sampler.py: 797] +05/27 13:18:59 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6721, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 13:18:59 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 13:18:59 INFO: [Worker 0] randomize_scene: Setting poses for 78 objects [json_eval_task_sampler.py: 686] +05/27 13:18:59 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 13:18:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 13:18:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 13:18:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 13:18:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 13:18:59 INFO: [Worker 0] Sampled task 'Pick up the white teacup with gold handle and place it next to the slim gold metallic smartphone with buttons' [task_sampler.py: 1136] +05/27 13:18:59 INFO: [Worker 0] Worker 0 house 6721 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 13:18:59 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 13:35:16 INFO: [Worker 0] Worker 0 house 6721 episode 0 object objateacup_f7306387666943a3a53852fca4a977a2_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 13:35:19 INFO: [Worker 0] Batching and saving trajectory data for house_6721: 1 episodes [pipeline.py: 233] +05/27 13:35:19 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 13:35:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 13:35:22 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6721 [save_utils.py: 703] +05/27 13:35:22 INFO: [Worker 0] Successfully saved trajectory data for house_6721 in 2.45s (batch: 2.36s, save: 0.09s) [pipeline.py: 280] +05/27 13:35:22 WARNING: [Worker 0] No trajectory data to save for house_6721 [pipeline.py: 229] +05/27 13:35:22 INFO: [Worker 0] Worker 0 completed house 6721: 0/1 successful episodes [pipeline.py: 1243] +05/27 13:35:22 INFO: [Worker 0] Worker 0 starting house 6788 (index 75/115) [pipeline.py: 473] +05/27 13:35:22 INFO: [Worker 0] Loaded 1 episodes for house 6788 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 13:35:22 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 13:35:26 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6788_ceiling.xml [task_sampler.py: 797] +05/27 13:35:26 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6788, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 13:35:26 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 13:35:26 INFO: [Worker 0] randomize_scene: Setting poses for 54 objects [json_eval_task_sampler.py: 686] +05/27 13:35:26 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 13:35:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 13:35:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 13:35:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 13:35:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 13:35:26 INFO: [Worker 0] Sampled task 'Pick up the 3d india map with flag colors and place it next to the white crocodile skull' [task_sampler.py: 1136] +05/27 13:35:26 INFO: [Worker 0] Worker 0 house 6788 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 13:35:26 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 13:35:26 WARNING: [Worker 0] Could not find object objacap_4fb9681973e841209810c607560dede6_1_0_6 in scene [object_manager.py: 1238] +05/27 13:35:26 WARNING: [Worker 0] Could not find object objatapedispenser_2988a85fdf0f4a679b17335bd8e26871_2_0_9 in scene [object_manager.py: 1238] +05/27 13:37:02 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 13:47:42 INFO: [Worker 0] Worker 0 house 6788 episode 0 object objadecorativemap_5f5fa02e9e02420881536168a660c47b_1_0_8 completed with success=False [pipeline.py: 1114] +05/27 13:47:46 INFO: [Worker 0] Batching and saving trajectory data for house_6788: 1 episodes [pipeline.py: 233] +05/27 13:47:46 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 13:47:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 13:47:49 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6788 [save_utils.py: 703] +05/27 13:47:49 INFO: [Worker 0] Successfully saved trajectory data for house_6788 in 2.72s (batch: 2.62s, save: 0.09s) [pipeline.py: 280] +05/27 13:47:49 WARNING: [Worker 0] No trajectory data to save for house_6788 [pipeline.py: 229] +05/27 13:47:49 INFO: [Worker 0] Worker 0 completed house 6788: 0/1 successful episodes [pipeline.py: 1243] +05/27 13:47:49 INFO: [Worker 0] Worker 0 starting house 6911 (index 76/115) [pipeline.py: 473] +05/27 13:47:49 INFO: [Worker 0] Loaded 1 episodes for house 6911 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 13:47:49 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 13:48:10 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6911_ceiling.xml [task_sampler.py: 797] +05/27 13:48:10 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6911, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 13:48:10 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 13:48:10 INFO: [Worker 0] randomize_scene: Setting poses for 55 objects [json_eval_task_sampler.py: 686] +05/27 13:48:10 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 13:48:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 13:48:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 13:48:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 13:48:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 13:48:10 INFO: [Worker 0] Sampled task 'Pick up the blue hammer with orange handle and place it next to the medium-sized light brown oval potato' [task_sampler.py: 1136] +05/27 13:48:10 INFO: [Worker 0] Worker 0 house 6911 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 13:48:10 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 13:48:10 WARNING: [Worker 0] Could not find object objadecorativecandle_0c791ace8deb4316bd377aa7fb553517_1_0_5 in scene [object_manager.py: 1238] +05/27 13:48:10 WARNING: [Worker 0] Could not find object objatoiletpaper_903ed803932340b19104cf5232c5dcc4_1_0_5 in scene [object_manager.py: 1238] +05/27 13:49:51 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 14:00:38 INFO: [Worker 0] Worker 0 house 6911 episode 0 object objahandtool_ed6973497d074fd6969fd06f52e8da04_1_0_8 completed with success=False [pipeline.py: 1114] +05/27 14:00:42 INFO: [Worker 0] Batching and saving trajectory data for house_6911: 1 episodes [pipeline.py: 233] +05/27 14:00:42 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 14:00:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 14:00:45 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6911 [save_utils.py: 703] +05/27 14:00:45 INFO: [Worker 0] Successfully saved trajectory data for house_6911 in 2.68s (batch: 2.59s, save: 0.09s) [pipeline.py: 280] +05/27 14:00:45 WARNING: [Worker 0] No trajectory data to save for house_6911 [pipeline.py: 229] +05/27 14:00:45 INFO: [Worker 0] Worker 0 completed house 6911: 0/1 successful episodes [pipeline.py: 1243] +05/27 14:00:45 INFO: [Worker 0] Worker 0 starting house 6981 (index 77/115) [pipeline.py: 473] +05/27 14:00:45 INFO: [Worker 0] Loaded 1 episodes for house 6981 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 14:00:45 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 14:01:14 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_6981_ceiling.xml [task_sampler.py: 797] +05/27 14:01:14 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=6981, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 14:01:14 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 14:01:14 INFO: [Worker 0] randomize_scene: Setting poses for 96 objects [json_eval_task_sampler.py: 686] +05/27 14:01:14 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 14:01:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 14:01:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 14:01:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 14:01:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 14:01:14 INFO: [Worker 0] Sampled task 'Pick up the shackle and place it next to the glossy red ceramic mug with handle' [task_sampler.py: 1136] +05/27 14:01:14 INFO: [Worker 0] Worker 0 house 6981 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 14:01:14 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 14:02:55 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 14:13:30 INFO: [Worker 0] Worker 0 house 6981 episode 0 object objashackle_f04582e626ee4b09b5b870a2730d12b7_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 14:13:34 INFO: [Worker 0] Batching and saving trajectory data for house_6981: 1 episodes [pipeline.py: 233] +05/27 14:13:34 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 14:13:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 14:13:36 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_6981 [save_utils.py: 703] +05/27 14:13:36 INFO: [Worker 0] Successfully saved trajectory data for house_6981 in 2.39s (batch: 2.30s, save: 0.09s) [pipeline.py: 280] +05/27 14:13:37 WARNING: [Worker 0] No trajectory data to save for house_6981 [pipeline.py: 229] +05/27 14:13:37 INFO: [Worker 0] Worker 0 completed house 6981: 0/1 successful episodes [pipeline.py: 1243] +05/27 14:13:37 INFO: [Worker 0] Worker 0 starting house 7030 (index 78/115) [pipeline.py: 473] +05/27 14:13:37 INFO: [Worker 0] Loaded 1 episodes for house 7030 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 14:13:37 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 14:13:45 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7030_ceiling.xml [task_sampler.py: 797] +05/27 14:13:45 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7030, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 14:13:45 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 14:13:45 INFO: [Worker 0] randomize_scene: Setting poses for 17 objects [json_eval_task_sampler.py: 686] +05/27 14:13:45 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 14:13:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 14:13:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 14:13:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 14:13:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 14:13:45 INFO: [Worker 0] Sampled task 'Pick up the vintage cast iron clothes iron and place it next to the clear glass martini cup' [task_sampler.py: 1136] +05/27 14:13:45 INFO: [Worker 0] Worker 0 house 7030 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 14:13:45 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 14:15:24 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 14:20:46 INFO: [Worker 0] Worker 0 house 7030 episode 0 object objaclothesiron_85d03c142cf04e258f254e7112850ba7_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 14:20:49 INFO: [Worker 0] Batching and saving trajectory data for house_7030: 1 episodes [pipeline.py: 233] +05/27 14:20:50 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 14:20:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 14:20:52 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7030 [save_utils.py: 703] +05/27 14:20:52 INFO: [Worker 0] Successfully saved trajectory data for house_7030 in 2.46s (batch: 2.37s, save: 0.09s) [pipeline.py: 280] +05/27 14:20:53 WARNING: [Worker 0] No trajectory data to save for house_7030 [pipeline.py: 229] +05/27 14:20:53 INFO: [Worker 0] Worker 0 completed house 7030: 0/1 successful episodes [pipeline.py: 1243] +05/27 14:20:53 INFO: [Worker 0] Worker 0 starting house 7097 (index 79/115) [pipeline.py: 473] +05/27 14:20:53 INFO: [Worker 0] Loaded 1 episodes for house 7097 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 14:20:53 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 14:21:15 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7097_ceiling.xml [task_sampler.py: 797] +05/27 14:21:15 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7097, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 14:21:15 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 14:21:15 INFO: [Worker 0] randomize_scene: Setting poses for 76 objects [json_eval_task_sampler.py: 686] +05/27 14:21:15 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 14:21:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 14:21:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 14:21:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 14:21:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 14:21:15 INFO: [Worker 0] Sampled task 'Pick up the chocolate wrapper and place it next to the golden bread' [task_sampler.py: 1136] +05/27 14:21:15 INFO: [Worker 0] Worker 0 house 7097 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 14:21:15 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 14:22:55 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 14:37:58 INFO: [Worker 0] Worker 0 house 7097 episode 0 object objapackagedfood_5ceecc4773b845a5b9addfa0f324f159_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 14:38:01 INFO: [Worker 0] Batching and saving trajectory data for house_7097: 1 episodes [pipeline.py: 233] +05/27 14:38:01 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 14:38:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 14:38:04 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7097 [save_utils.py: 703] +05/27 14:38:04 INFO: [Worker 0] Successfully saved trajectory data for house_7097 in 2.66s (batch: 2.57s, save: 0.09s) [pipeline.py: 280] +05/27 14:38:04 WARNING: [Worker 0] No trajectory data to save for house_7097 [pipeline.py: 229] +05/27 14:38:04 INFO: [Worker 0] Worker 0 completed house 7097: 0/1 successful episodes [pipeline.py: 1243] +05/27 14:38:04 INFO: [Worker 0] Worker 0 starting house 7177 (index 80/115) [pipeline.py: 473] +05/27 14:38:04 INFO: [Worker 0] Loaded 1 episodes for house 7177 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 14:38:04 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 14:38:38 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7177_ceiling.xml [task_sampler.py: 797] +05/27 14:38:38 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7177, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 14:38:38 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 14:38:38 INFO: [Worker 0] randomize_scene: Setting poses for 65 objects [json_eval_task_sampler.py: 686] +05/27 14:38:38 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 14:38:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 14:38:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 14:38:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 14:38:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 14:38:38 INFO: [Worker 0] Sampled task 'Pick up the white lint roller with black handle and place it next to the blue soap bottle with orange pump' [task_sampler.py: 1136] +05/27 14:38:38 INFO: [Worker 0] Worker 0 house 7177 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 14:38:38 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 14:38:38 WARNING: [Worker 0] Could not find object objamolding_fafc3a00286842408c0e020b99c92b3d_1_0_6 in scene [object_manager.py: 1238] +05/27 14:54:08 INFO: [Worker 0] Worker 0 house 7177 episode 0 object objalintroller_7aa393e10b484db9ac9e7796b3ed099a_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 14:54:11 INFO: [Worker 0] Batching and saving trajectory data for house_7177: 1 episodes [pipeline.py: 233] +05/27 14:54:11 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 14:54:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 14:54:14 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7177 [save_utils.py: 703] +05/27 14:54:14 INFO: [Worker 0] Successfully saved trajectory data for house_7177 in 2.36s (batch: 2.27s, save: 0.09s) [pipeline.py: 280] +05/27 14:54:14 WARNING: [Worker 0] No trajectory data to save for house_7177 [pipeline.py: 229] +05/27 14:54:14 INFO: [Worker 0] Worker 0 completed house 7177: 0/1 successful episodes [pipeline.py: 1243] +05/27 14:54:14 INFO: [Worker 0] Worker 0 starting house 7301 (index 81/115) [pipeline.py: 473] +05/27 14:54:14 INFO: [Worker 0] Loaded 1 episodes for house 7301 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 14:54:14 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 14:54:27 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7301_ceiling.xml [task_sampler.py: 797] +05/27 14:54:27 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7301, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 14:54:27 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 14:54:27 INFO: [Worker 0] randomize_scene: Setting poses for 31 objects [json_eval_task_sampler.py: 686] +05/27 14:54:27 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 14:54:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 14:54:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 14:54:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 14:54:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 14:54:27 INFO: [Worker 0] Sampled task 'Pick up the polished wooden goblet and place it next to the vintage teal blue toy van' [task_sampler.py: 1136] +05/27 14:54:27 INFO: [Worker 0] Worker 0 house 7301 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 14:54:27 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 14:56:07 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 15:03:28 INFO: [Worker 0] Worker 0 house 7301 episode 0 object objagoblet_35c17f99abdd4ff995fe8b392865a37c_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 15:03:31 INFO: [Worker 0] Batching and saving trajectory data for house_7301: 1 episodes [pipeline.py: 233] +05/27 15:03:31 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 15:03:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 15:03:33 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7301 [save_utils.py: 703] +05/27 15:03:33 INFO: [Worker 0] Successfully saved trajectory data for house_7301 in 2.42s (batch: 2.33s, save: 0.09s) [pipeline.py: 280] +05/27 15:03:34 WARNING: [Worker 0] No trajectory data to save for house_7301 [pipeline.py: 229] +05/27 15:03:34 INFO: [Worker 0] Worker 0 completed house 7301: 0/1 successful episodes [pipeline.py: 1243] +05/27 15:03:34 INFO: [Worker 0] Worker 0 starting house 7348 (index 82/115) [pipeline.py: 473] +05/27 15:03:34 INFO: [Worker 0] Loaded 1 episodes for house 7348 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 15:03:34 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 15:03:52 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7348_ceiling.xml [task_sampler.py: 797] +05/27 15:03:52 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7348, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 15:03:52 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 15:03:52 INFO: [Worker 0] randomize_scene: Setting poses for 69 objects [json_eval_task_sampler.py: 686] +05/27 15:03:52 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 15:03:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 15:03:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 15:03:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 15:03:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 15:03:52 INFO: [Worker 0] Sampled task 'Pick up the solid food and place it next to the soapdispenser' [task_sampler.py: 1136] +05/27 15:03:52 INFO: [Worker 0] Worker 0 house 7348 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 15:03:52 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 15:05:27 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 15:18:20 INFO: [Worker 0] Worker 0 house 7348 episode 0 object objameat_42c4cf5f1af84cfa9800dff288f13a44_1_0_8 completed with success=False [pipeline.py: 1114] +05/27 15:18:24 INFO: [Worker 0] Batching and saving trajectory data for house_7348: 1 episodes [pipeline.py: 233] +05/27 15:18:24 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 15:18:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 15:18:27 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7348 [save_utils.py: 703] +05/27 15:18:27 INFO: [Worker 0] Successfully saved trajectory data for house_7348 in 2.68s (batch: 2.59s, save: 0.09s) [pipeline.py: 280] +05/27 15:18:27 WARNING: [Worker 0] No trajectory data to save for house_7348 [pipeline.py: 229] +05/27 15:18:27 INFO: [Worker 0] Worker 0 completed house 7348: 0/1 successful episodes [pipeline.py: 1243] +05/27 15:18:27 INFO: [Worker 0] Worker 0 starting house 7405 (index 83/115) [pipeline.py: 473] +05/27 15:18:27 INFO: [Worker 0] Loaded 1 episodes for house 7405 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 15:18:27 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 15:18:38 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7405_ceiling.xml [task_sampler.py: 797] +05/27 15:18:38 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7405, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 15:18:38 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 15:18:38 INFO: [Worker 0] randomize_scene: Setting poses for 35 objects [json_eval_task_sampler.py: 686] +05/27 15:18:38 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 15:18:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 15:18:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 15:18:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 15:18:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 15:18:38 INFO: [Worker 0] Sampled task 'Pick up the folded soft taco with lettuce filling and place it next to the fresh oval-shaped green lettuce head' [task_sampler.py: 1136] +05/27 15:18:38 INFO: [Worker 0] Worker 0 house 7405 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 15:18:38 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 15:20:16 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 15:27:12 INFO: [Worker 0] Worker 0 house 7405 episode 0 object objataco_5b8095131eca4914b6dce4e96b290a3f_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 15:27:15 INFO: [Worker 0] Batching and saving trajectory data for house_7405: 1 episodes [pipeline.py: 233] +05/27 15:27:15 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 15:27:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 15:27:18 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7405 [save_utils.py: 703] +05/27 15:27:18 INFO: [Worker 0] Successfully saved trajectory data for house_7405 in 2.69s (batch: 2.60s, save: 0.09s) [pipeline.py: 280] +05/27 15:27:19 WARNING: [Worker 0] No trajectory data to save for house_7405 [pipeline.py: 229] +05/27 15:27:19 INFO: [Worker 0] Worker 0 completed house 7405: 0/1 successful episodes [pipeline.py: 1243] +05/27 15:27:19 INFO: [Worker 0] Worker 0 starting house 7472 (index 84/115) [pipeline.py: 473] +05/27 15:27:19 INFO: [Worker 0] Loaded 1 episodes for house 7472 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 15:27:19 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 15:27:37 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7472_ceiling.xml [task_sampler.py: 797] +05/27 15:27:37 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7472, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 15:27:37 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 15:27:37 INFO: [Worker 0] randomize_scene: Setting poses for 29 objects [json_eval_task_sampler.py: 686] +05/27 15:27:37 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 15:27:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 15:27:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 15:27:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 15:27:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 15:27:37 INFO: [Worker 0] Sampled task 'Pick up the glossy smooth oval beige egg and place it next to the solanaceous vegetable' [task_sampler.py: 1136] +05/27 15:27:37 INFO: [Worker 0] Worker 0 house 7472 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 15:27:37 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 15:29:13 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 15:36:05 INFO: [Worker 0] Worker 0 house 7472 episode 0 object egg_15cf0be37a6e2484728ad7e6fc53f181_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 15:36:09 INFO: [Worker 0] Batching and saving trajectory data for house_7472: 1 episodes [pipeline.py: 233] +05/27 15:36:09 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 15:36:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 15:36:11 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7472 [save_utils.py: 703] +05/27 15:36:11 INFO: [Worker 0] Successfully saved trajectory data for house_7472 in 2.43s (batch: 2.34s, save: 0.09s) [pipeline.py: 280] +05/27 15:36:12 WARNING: [Worker 0] No trajectory data to save for house_7472 [pipeline.py: 229] +05/27 15:36:12 INFO: [Worker 0] Worker 0 completed house 7472: 0/1 successful episodes [pipeline.py: 1243] +05/27 15:36:12 INFO: [Worker 0] Worker 0 starting house 7569 (index 85/115) [pipeline.py: 473] +05/27 15:36:12 INFO: [Worker 0] Loaded 1 episodes for house 7569 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 15:36:12 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 15:36:29 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7569_ceiling.xml [task_sampler.py: 797] +05/27 15:36:29 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7569, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 15:36:29 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 15:36:29 INFO: [Worker 0] randomize_scene: Setting poses for 52 objects [json_eval_task_sampler.py: 686] +05/27 15:36:29 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 15:36:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 15:36:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 15:36:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 15:36:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 15:36:29 INFO: [Worker 0] Sampled task 'Pick up the brown plastic rake with five tines and place it next to the bronze full-figured statue' [task_sampler.py: 1136] +05/27 15:36:29 INFO: [Worker 0] Worker 0 house 7569 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 15:36:29 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 15:36:29 WARNING: [Worker 0] Could not find object objasleepmask_e010cefb12434adaa70c64b0f9bae79a_1_0_3 in scene [object_manager.py: 1238] +05/27 15:36:29 WARNING: [Worker 0] Could not find object objarooftile_46d3ba45fd8a416a9e594deb63de6455_1_0_3 in scene [object_manager.py: 1238] +05/27 15:50:57 INFO: [Worker 0] Worker 0 house 7569 episode 0 object objarake_d2c6209177484c299f7d806f5544dec6_2_0_2 completed with success=False [pipeline.py: 1114] +05/27 15:51:01 INFO: [Worker 0] Batching and saving trajectory data for house_7569: 1 episodes [pipeline.py: 233] +05/27 15:51:01 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 15:51:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 15:51:03 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7569 [save_utils.py: 703] +05/27 15:51:03 INFO: [Worker 0] Successfully saved trajectory data for house_7569 in 2.76s (batch: 2.67s, save: 0.09s) [pipeline.py: 280] +05/27 15:51:04 WARNING: [Worker 0] No trajectory data to save for house_7569 [pipeline.py: 229] +05/27 15:51:04 INFO: [Worker 0] Worker 0 completed house 7569: 0/1 successful episodes [pipeline.py: 1243] +05/27 15:51:04 INFO: [Worker 0] Worker 0 starting house 7672 (index 86/115) [pipeline.py: 473] +05/27 15:51:04 INFO: [Worker 0] Loaded 1 episodes for house 7672 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 15:51:04 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 15:51:06 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7672_ceiling.xml [task_sampler.py: 797] +05/27 15:51:06 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7672, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 15:51:06 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 15:51:06 INFO: [Worker 0] randomize_scene: Setting poses for 29 objects [json_eval_task_sampler.py: 686] +05/27 15:51:06 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 15:51:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 15:51:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 15:51:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 15:51:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 15:51:06 INFO: [Worker 0] Sampled task 'Pick up the smooth brown chicken egg and place it next to the transparent soap bottle with bronze pump' [task_sampler.py: 1136] +05/27 15:51:06 INFO: [Worker 0] Worker 0 house 7672 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 15:51:06 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 15:52:49 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 15:54:05 INFO: [Worker 0] Worker 0 house 7672 episode 0 object egg_8105fb5ffac56e85221c0eea53ac4fb5_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 15:54:09 INFO: [Worker 0] Batching and saving trajectory data for house_7672: 1 episodes [pipeline.py: 233] +05/27 15:54:09 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 15:54:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 15:54:11 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7672 [save_utils.py: 703] +05/27 15:54:11 INFO: [Worker 0] Successfully saved trajectory data for house_7672 in 2.77s (batch: 2.68s, save: 0.09s) [pipeline.py: 280] +05/27 15:54:12 WARNING: [Worker 0] No trajectory data to save for house_7672 [pipeline.py: 229] +05/27 15:54:12 INFO: [Worker 0] Worker 0 completed house 7672: 0/1 successful episodes [pipeline.py: 1243] +05/27 15:54:12 INFO: [Worker 0] Worker 0 starting house 7774 (index 87/115) [pipeline.py: 473] +05/27 15:54:12 INFO: [Worker 0] Loaded 1 episodes for house 7774 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 15:54:12 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 15:54:48 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7774_ceiling.xml [task_sampler.py: 797] +05/27 15:54:48 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7774, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 15:54:48 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 15:54:48 INFO: [Worker 0] randomize_scene: Setting poses for 81 objects [json_eval_task_sampler.py: 686] +05/27 15:54:48 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 15:54:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 15:54:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 15:54:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 15:54:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 15:54:48 INFO: [Worker 0] Sampled task 'Pick up the light gray stone chess knight and place it next to the rectangular card with squid' [task_sampler.py: 1136] +05/27 15:54:48 INFO: [Worker 0] Worker 0 house 7774 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 15:54:48 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 15:56:25 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 16:12:05 INFO: [Worker 0] Worker 0 house 7774 episode 0 object objachesspiece_11048451bddc416eb4872caad8f0ba35_1_0_3 completed with success=False [pipeline.py: 1114] +05/27 16:12:09 INFO: [Worker 0] Batching and saving trajectory data for house_7774: 1 episodes [pipeline.py: 233] +05/27 16:12:09 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 16:12:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 16:12:12 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7774 [save_utils.py: 703] +05/27 16:12:12 INFO: [Worker 0] Successfully saved trajectory data for house_7774 in 2.83s (batch: 2.74s, save: 0.09s) [pipeline.py: 280] +05/27 16:12:13 WARNING: [Worker 0] No trajectory data to save for house_7774 [pipeline.py: 229] +05/27 16:12:13 INFO: [Worker 0] Worker 0 completed house 7774: 0/1 successful episodes [pipeline.py: 1243] +05/27 16:12:13 INFO: [Worker 0] Worker 0 starting house 7857 (index 88/115) [pipeline.py: 473] +05/27 16:12:13 INFO: [Worker 0] Loaded 1 episodes for house 7857 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 16:12:13 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 16:12:15 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7857_ceiling.xml [task_sampler.py: 797] +05/27 16:12:15 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7857, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 16:12:15 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 16:12:15 INFO: [Worker 0] randomize_scene: Setting poses for 18 objects [json_eval_task_sampler.py: 686] +05/27 16:12:15 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 16:12:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 16:12:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 16:12:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 16:12:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 16:12:15 INFO: [Worker 0] Sampled task 'Pick up the black rectangular device with pin screen and place it next to the blue egg with yellow moon spots' [task_sampler.py: 1136] +05/27 16:12:15 INFO: [Worker 0] Worker 0 house 7857 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 16:12:15 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 16:14:48 INFO: [Worker 0] Worker 0 house 7857 episode 0 object objakeypad_297bb83c296b49cf93bfbf157f9ca431_1_0_2 completed with success=True [pipeline.py: 1114] +05/27 16:14:52 INFO: [Worker 0] Batching and saving trajectory data for house_7857: 1 episodes [pipeline.py: 233] +05/27 16:14:52 INFO: [Worker 0] Preparing episode data: 58 timesteps [save_utils.py: 284] +05/27 16:14:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 16:14:55 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7857 [save_utils.py: 703] +05/27 16:14:55 INFO: [Worker 0] Successfully saved trajectory data for house_7857 in 2.44s (batch: 2.41s, save: 0.03s) [pipeline.py: 280] +05/27 16:14:55 WARNING: [Worker 0] No trajectory data to save for house_7857 [pipeline.py: 229] +05/27 16:14:55 INFO: [Worker 0] Worker 0 completed house 7857: 1/1 successful episodes [pipeline.py: 1243] +05/27 16:14:55 INFO: [Worker 0] Worker 0 starting house 7973 (index 89/115) [pipeline.py: 473] +05/27 16:14:55 INFO: [Worker 0] Loaded 1 episodes for house 7973 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 16:14:55 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 16:15:06 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_7973_ceiling.xml [task_sampler.py: 797] +05/27 16:15:06 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=7973, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 16:15:06 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 16:15:06 INFO: [Worker 0] randomize_scene: Setting poses for 38 objects [json_eval_task_sampler.py: 686] +05/27 16:15:06 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 16:15:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 16:15:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 16:15:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 16:15:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 16:15:06 INFO: [Worker 0] Sampled task 'Pick up the pliers and place it next to the red tractor' [task_sampler.py: 1136] +05/27 16:15:06 INFO: [Worker 0] Worker 0 house 7973 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 16:15:06 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 16:16:44 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 16:26:09 INFO: [Worker 0] Worker 0 house 7973 episode 0 object objapincers_76dfab9b43c346c781e1c0edd3afe534_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 16:26:12 INFO: [Worker 0] Batching and saving trajectory data for house_7973: 1 episodes [pipeline.py: 233] +05/27 16:26:12 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 16:26:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 16:26:15 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_7973 [save_utils.py: 703] +05/27 16:26:15 INFO: [Worker 0] Successfully saved trajectory data for house_7973 in 2.48s (batch: 2.39s, save: 0.09s) [pipeline.py: 280] +05/27 16:26:15 WARNING: [Worker 0] No trajectory data to save for house_7973 [pipeline.py: 229] +05/27 16:26:15 INFO: [Worker 0] Worker 0 completed house 7973: 0/1 successful episodes [pipeline.py: 1243] +05/27 16:26:15 INFO: [Worker 0] Worker 0 starting house 8064 (index 90/115) [pipeline.py: 473] +05/27 16:26:15 INFO: [Worker 0] Loaded 1 episodes for house 8064 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 16:26:15 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 16:26:26 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8064_ceiling.xml [task_sampler.py: 797] +05/27 16:26:26 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8064, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 16:26:26 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 16:26:26 INFO: [Worker 0] randomize_scene: Setting poses for 44 objects [json_eval_task_sampler.py: 686] +05/27 16:26:26 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 16:26:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 16:26:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 16:26:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 16:26:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 16:26:26 INFO: [Worker 0] Sampled task 'Pick up the effects unit and place it next to the open cardboard box flaps' [task_sampler.py: 1136] +05/27 16:26:26 INFO: [Worker 0] Worker 0 house 8064 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 16:26:26 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 16:38:14 INFO: [Worker 0] Worker 0 house 8064 episode 0 object objaguitareffectspedal_8c6e5265f19b49709119c2628c2bdf3f_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 16:38:18 INFO: [Worker 0] Batching and saving trajectory data for house_8064: 1 episodes [pipeline.py: 233] +05/27 16:38:18 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 16:38:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 16:38:21 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8064 [save_utils.py: 703] +05/27 16:38:21 INFO: [Worker 0] Successfully saved trajectory data for house_8064 in 2.69s (batch: 2.61s, save: 0.09s) [pipeline.py: 280] +05/27 16:38:22 WARNING: [Worker 0] No trajectory data to save for house_8064 [pipeline.py: 229] +05/27 16:38:22 INFO: [Worker 0] Worker 0 completed house 8064: 0/1 successful episodes [pipeline.py: 1243] +05/27 16:38:22 INFO: [Worker 0] Worker 0 starting house 8136 (index 91/115) [pipeline.py: 473] +05/27 16:38:22 INFO: [Worker 0] Loaded 1 episodes for house 8136 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 16:38:22 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 16:39:03 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8136_ceiling.xml [task_sampler.py: 797] +05/27 16:39:03 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8136, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 16:39:03 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 16:39:03 INFO: [Worker 0] randomize_scene: Setting poses for 81 objects [json_eval_task_sampler.py: 686] +05/27 16:39:03 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 16:39:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 16:39:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 16:39:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 16:39:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 16:39:03 INFO: [Worker 0] Sampled task 'Pick up the decorative knife with green handle and place it next to the red round tomato' [task_sampler.py: 1136] +05/27 16:39:03 INFO: [Worker 0] Worker 0 house 8136 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 16:39:03 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 16:39:04 WARNING: [Worker 0] Could not find object objaterrainpatch_b649d14ef25b4d509f880fa217d13e3b_1_0_4 in scene [object_manager.py: 1238] +05/27 16:39:04 WARNING: [Worker 0] Could not find object objasculptingtool_f7f0c3b473e049aa84d9251793113418_1_0_4 in scene [object_manager.py: 1238] +05/27 16:39:04 WARNING: [Worker 0] Could not find object objasneaker_9454424987bf45eb9bf7290823ca0cf1_1_0_5 in scene [object_manager.py: 1238] +05/27 16:39:04 WARNING: [Worker 0] Could not find object candle_09223ab74c3b4b8525bb3f1f1bd405c2_2_0_5 in scene [object_manager.py: 1238] +05/27 16:40:41 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 16:57:52 INFO: [Worker 0] Worker 0 house 8136 episode 0 object objadecorativeknife_ba81008c318c4af494b46d6b75770d79_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 16:57:55 INFO: [Worker 0] Batching and saving trajectory data for house_8136: 1 episodes [pipeline.py: 233] +05/27 16:57:55 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 16:57:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 16:57:57 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8136 [save_utils.py: 703] +05/27 16:57:57 INFO: [Worker 0] Successfully saved trajectory data for house_8136 in 2.43s (batch: 2.34s, save: 0.09s) [pipeline.py: 280] +05/27 16:57:58 WARNING: [Worker 0] No trajectory data to save for house_8136 [pipeline.py: 229] +05/27 16:57:58 INFO: [Worker 0] Worker 0 completed house 8136: 0/1 successful episodes [pipeline.py: 1243] +05/27 16:57:58 INFO: [Worker 0] Worker 0 starting house 8231 (index 92/115) [pipeline.py: 473] +05/27 16:57:58 INFO: [Worker 0] Loaded 1 episodes for house 8231 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 16:57:58 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 16:58:09 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8231_ceiling.xml [task_sampler.py: 797] +05/27 16:58:09 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8231, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 16:58:09 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 16:58:09 INFO: [Worker 0] randomize_scene: Setting poses for 44 objects [json_eval_task_sampler.py: 686] +05/27 16:58:09 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 16:58:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 16:58:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 16:58:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 16:58:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 16:58:10 INFO: [Worker 0] Sampled task 'Pick up the blue bomb with skull and place it next to the thick blue hardcover book with pages' [task_sampler.py: 1136] +05/27 16:58:10 INFO: [Worker 0] Worker 0 house 8231 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 16:58:10 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 16:59:44 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 17:09:03 INFO: [Worker 0] Worker 0 house 8231 episode 0 object objatoybomb_1631526a79b44d3a96382b1802a59fb7_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 17:09:07 INFO: [Worker 0] Batching and saving trajectory data for house_8231: 1 episodes [pipeline.py: 233] +05/27 17:09:07 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 17:09:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 17:09:09 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8231 [save_utils.py: 703] +05/27 17:09:09 INFO: [Worker 0] Successfully saved trajectory data for house_8231 in 2.48s (batch: 2.39s, save: 0.09s) [pipeline.py: 280] +05/27 17:09:10 WARNING: [Worker 0] No trajectory data to save for house_8231 [pipeline.py: 229] +05/27 17:09:10 INFO: [Worker 0] Worker 0 completed house 8231: 0/1 successful episodes [pipeline.py: 1243] +05/27 17:09:10 INFO: [Worker 0] Worker 0 starting house 8303 (index 93/115) [pipeline.py: 473] +05/27 17:09:10 INFO: [Worker 0] Loaded 1 episodes for house 8303 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 17:09:10 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 17:09:17 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8303_ceiling.xml [task_sampler.py: 797] +05/27 17:09:17 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8303, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 17:09:17 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 17:09:17 INFO: [Worker 0] randomize_scene: Setting poses for 82 objects [json_eval_task_sampler.py: 686] +05/27 17:09:17 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 17:09:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 17:09:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 17:09:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 17:09:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 17:09:17 INFO: [Worker 0] Sampled task 'Pick up the gray submarine and place it next to the edible fruit' [task_sampler.py: 1136] +05/27 17:09:17 INFO: [Worker 0] Worker 0 house 8303 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 17:09:17 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 17:10:53 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 17:25:04 INFO: [Worker 0] Worker 0 house 8303 episode 0 object objatoysubmarine_caf68e270c8f4da4817eaeaa231248e8_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 17:25:08 INFO: [Worker 0] Batching and saving trajectory data for house_8303: 1 episodes [pipeline.py: 233] +05/27 17:25:08 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 17:25:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 17:25:10 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8303 [save_utils.py: 703] +05/27 17:25:10 INFO: [Worker 0] Successfully saved trajectory data for house_8303 in 2.49s (batch: 2.40s, save: 0.09s) [pipeline.py: 280] +05/27 17:25:11 WARNING: [Worker 0] No trajectory data to save for house_8303 [pipeline.py: 229] +05/27 17:25:11 INFO: [Worker 0] Worker 0 completed house 8303: 0/1 successful episodes [pipeline.py: 1243] +05/27 17:25:11 INFO: [Worker 0] Worker 0 starting house 8388 (index 94/115) [pipeline.py: 473] +05/27 17:25:11 INFO: [Worker 0] Loaded 1 episodes for house 8388 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 17:25:11 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 17:25:21 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8388_ceiling.xml [task_sampler.py: 797] +05/27 17:25:21 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8388, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 17:25:21 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 17:25:21 INFO: [Worker 0] randomize_scene: Setting poses for 48 objects [json_eval_task_sampler.py: 686] +05/27 17:25:21 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 17:25:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 17:25:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 17:25:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 17:25:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 17:25:21 INFO: [Worker 0] Sampled task 'Pick up the twisted wooden club with handle and place it next to the slim dark cellphone with volume buttons' [task_sampler.py: 1136] +05/27 17:25:21 INFO: [Worker 0] Worker 0 house 8388 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 17:25:21 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 17:35:59 INFO: [Worker 0] Worker 0 house 8388 episode 0 object objadecorativeclub_3f58af56c3dd48b6982f03e0d2098bd5_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 17:36:02 INFO: [Worker 0] Batching and saving trajectory data for house_8388: 1 episodes [pipeline.py: 233] +05/27 17:36:02 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 17:36:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 17:36:05 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8388 [save_utils.py: 703] +05/27 17:36:05 INFO: [Worker 0] Successfully saved trajectory data for house_8388 in 2.46s (batch: 2.37s, save: 0.09s) [pipeline.py: 280] +05/27 17:36:05 WARNING: [Worker 0] No trajectory data to save for house_8388 [pipeline.py: 229] +05/27 17:36:05 INFO: [Worker 0] Worker 0 completed house 8388: 0/1 successful episodes [pipeline.py: 1243] +05/27 17:36:05 INFO: [Worker 0] Worker 0 starting house 8447 (index 95/115) [pipeline.py: 473] +05/27 17:36:05 INFO: [Worker 0] Loaded 1 episodes for house 8447 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 17:36:05 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 17:36:14 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/27 17:36:19 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8447_ceiling.xml [task_sampler.py: 797] +05/27 17:36:19 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8447, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 17:36:19 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 17:36:19 INFO: [Worker 0] randomize_scene: Setting poses for 112 objects [json_eval_task_sampler.py: 686] +05/27 17:36:19 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 17:36:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 17:36:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 17:36:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 17:36:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 17:36:19 INFO: [Worker 0] Sampled task 'Pick up the wooden goblet and place it next to the old accordion camera' [task_sampler.py: 1136] +05/27 17:36:19 INFO: [Worker 0] Worker 0 house 8447 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 17:36:19 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 17:36:19 WARNING: [Worker 0] Could not find object objacalendar_66167a28782a4472a531436b59ebbe40_1_0_2 in scene [object_manager.py: 1238] +05/27 17:36:19 WARNING: [Worker 0] Could not find object objaceilingpanel_8bde878be8dd4fb7b6914db9c4dd31bb_1_0_4 in scene [object_manager.py: 1238] +05/27 17:57:08 INFO: [Worker 0] Worker 0 house 8447 episode 0 object objagoblet_69ccd4f7ef0d40db876d4f15fc5f7b32_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 17:57:11 INFO: [Worker 0] Batching and saving trajectory data for house_8447: 1 episodes [pipeline.py: 233] +05/27 17:57:11 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 17:57:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 17:57:14 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8447 [save_utils.py: 703] +05/27 17:57:14 INFO: [Worker 0] Successfully saved trajectory data for house_8447 in 2.48s (batch: 2.39s, save: 0.09s) [pipeline.py: 280] +05/27 17:57:14 WARNING: [Worker 0] No trajectory data to save for house_8447 [pipeline.py: 229] +05/27 17:57:14 INFO: [Worker 0] Worker 0 completed house 8447: 0/1 successful episodes [pipeline.py: 1243] +05/27 17:57:14 INFO: [Worker 0] Worker 0 starting house 8537 (index 96/115) [pipeline.py: 473] +05/27 17:57:14 INFO: [Worker 0] Loaded 1 episodes for house 8537 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 17:57:14 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 17:57:17 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8537_ceiling.xml [task_sampler.py: 797] +05/27 17:57:17 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8537, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 17:57:17 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 17:57:17 INFO: [Worker 0] randomize_scene: Setting poses for 10 objects [json_eval_task_sampler.py: 686] +05/27 17:57:17 WARNING: [Worker 0] Not setting joint of [json_eval_task_sampler.py: 441] +05/27 17:57:17 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 17:57:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 17:57:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 17:57:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 17:57:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 17:57:17 INFO: [Worker 0] Sampled task 'Pick up the blue laptop and place it next to the beige mechanical component with red accents' [task_sampler.py: 1136] +05/27 17:57:17 INFO: [Worker 0] Worker 0 house 8537 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 17:57:17 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 17:58:57 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 18:03:48 INFO: [Worker 0] Worker 0 house 8537 episode 0 object laptop_f09fcf086ebe9e3ab2d97bff50b833ef_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 18:03:52 INFO: [Worker 0] Batching and saving trajectory data for house_8537: 1 episodes [pipeline.py: 233] +05/27 18:03:52 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 18:03:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 18:03:54 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8537 [save_utils.py: 703] +05/27 18:03:54 INFO: [Worker 0] Successfully saved trajectory data for house_8537 in 2.43s (batch: 2.34s, save: 0.09s) [pipeline.py: 280] +05/27 18:03:55 WARNING: [Worker 0] No trajectory data to save for house_8537 [pipeline.py: 229] +05/27 18:03:55 INFO: [Worker 0] Worker 0 completed house 8537: 0/1 successful episodes [pipeline.py: 1243] +05/27 18:03:55 INFO: [Worker 0] Worker 0 starting house 8643 (index 97/115) [pipeline.py: 473] +05/27 18:03:55 INFO: [Worker 0] Loaded 1 episodes for house 8643 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 18:03:55 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 18:04:07 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8643_ceiling.xml [task_sampler.py: 797] +05/27 18:04:07 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8643, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 18:04:07 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 18:04:08 INFO: [Worker 0] randomize_scene: Setting poses for 60 objects [json_eval_task_sampler.py: 686] +05/27 18:04:08 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 18:04:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 18:04:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 18:04:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 18:04:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 18:04:08 INFO: [Worker 0] Sampled task 'Pick up the world cube and place it next to the small green house plant in pot' [task_sampler.py: 1136] +05/27 18:04:08 INFO: [Worker 0] Worker 0 house 8643 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 18:04:08 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 18:05:45 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 18:18:43 INFO: [Worker 0] Worker 0 house 8643 episode 0 object objapuzzle_8c4b97dfc3014b69848bd040a3c866e5_1_0_4 completed with success=False [pipeline.py: 1114] +05/27 18:18:46 INFO: [Worker 0] Batching and saving trajectory data for house_8643: 1 episodes [pipeline.py: 233] +05/27 18:18:46 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 18:18:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 18:18:49 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8643 [save_utils.py: 703] +05/27 18:18:49 INFO: [Worker 0] Successfully saved trajectory data for house_8643 in 2.71s (batch: 2.62s, save: 0.09s) [pipeline.py: 280] +05/27 18:18:50 WARNING: [Worker 0] No trajectory data to save for house_8643 [pipeline.py: 229] +05/27 18:18:50 INFO: [Worker 0] Worker 0 completed house 8643: 0/1 successful episodes [pipeline.py: 1243] +05/27 18:18:50 INFO: [Worker 0] Worker 0 starting house 8720 (index 98/115) [pipeline.py: 473] +05/27 18:18:50 INFO: [Worker 0] Loaded 1 episodes for house 8720 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 18:18:50 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 18:18:56 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8720_ceiling.xml [task_sampler.py: 797] +05/27 18:18:56 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8720, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 18:18:56 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 18:18:56 INFO: [Worker 0] randomize_scene: Setting poses for 47 objects [json_eval_task_sampler.py: 686] +05/27 18:18:56 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 18:18:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 18:18:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 18:18:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 18:18:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 18:18:56 INFO: [Worker 0] Sampled task 'Pick up the small gray smooth cup and place it next to the black and white book' [task_sampler.py: 1136] +05/27 18:18:56 INFO: [Worker 0] Worker 0 house 8720 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 18:18:56 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 18:20:34 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 18:28:52 INFO: [Worker 0] Worker 0 house 8720 episode 0 object cup_ac3e47ea126b6e413f41eeecd68c8ae1_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 18:28:56 INFO: [Worker 0] Batching and saving trajectory data for house_8720: 1 episodes [pipeline.py: 233] +05/27 18:28:56 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 18:28:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 18:28:58 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8720 [save_utils.py: 703] +05/27 18:28:58 INFO: [Worker 0] Successfully saved trajectory data for house_8720 in 2.69s (batch: 2.60s, save: 0.09s) [pipeline.py: 280] +05/27 18:28:59 WARNING: [Worker 0] No trajectory data to save for house_8720 [pipeline.py: 229] +05/27 18:28:59 INFO: [Worker 0] Worker 0 completed house 8720: 0/1 successful episodes [pipeline.py: 1243] +05/27 18:28:59 INFO: [Worker 0] Worker 0 starting house 8805 (index 99/115) [pipeline.py: 473] +05/27 18:28:59 INFO: [Worker 0] Loaded 1 episodes for house 8805 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 18:28:59 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 18:29:11 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/27 18:29:13 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8805_ceiling.xml [task_sampler.py: 797] +05/27 18:29:13 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8805, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 18:29:13 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 18:29:13 INFO: [Worker 0] randomize_scene: Setting poses for 52 objects [json_eval_task_sampler.py: 686] +05/27 18:29:13 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 18:29:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 18:29:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 18:29:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 18:29:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 18:29:13 INFO: [Worker 0] Sampled task 'Pick up the white electrical connector and place it next to the shiny purple quilted pillow' [task_sampler.py: 1136] +05/27 18:29:13 INFO: [Worker 0] Worker 0 house 8805 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 18:29:13 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 18:29:13 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene [object_manager.py: 1238] +05/27 18:42:01 INFO: [Worker 0] Worker 0 house 8805 episode 0 object objaelectricalconnector_dbdf5d0c07ab4d7ca8814ef57c537dd9_1_0_9 completed with success=False [pipeline.py: 1114] +05/27 18:42:05 INFO: [Worker 0] Batching and saving trajectory data for house_8805: 1 episodes [pipeline.py: 233] +05/27 18:42:05 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 18:42:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 18:42:07 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8805 [save_utils.py: 703] +05/27 18:42:07 INFO: [Worker 0] Successfully saved trajectory data for house_8805 in 2.71s (batch: 2.62s, save: 0.09s) [pipeline.py: 280] +05/27 18:42:08 WARNING: [Worker 0] No trajectory data to save for house_8805 [pipeline.py: 229] +05/27 18:42:08 INFO: [Worker 0] Worker 0 completed house 8805: 0/1 successful episodes [pipeline.py: 1243] +05/27 18:42:08 INFO: [Worker 0] Worker 0 starting house 8881 (index 100/115) [pipeline.py: 473] +05/27 18:42:08 INFO: [Worker 0] Loaded 1 episodes for house 8881 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 18:42:08 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 18:42:16 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8881_ceiling.xml [task_sampler.py: 797] +05/27 18:42:16 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8881, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 18:42:16 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 18:42:16 INFO: [Worker 0] randomize_scene: Setting poses for 39 objects [json_eval_task_sampler.py: 686] +05/27 18:42:16 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 18:42:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 18:42:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 18:42:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 18:42:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 18:42:16 INFO: [Worker 0] Sampled task 'Pick up the bulbous shiny gold metallic vase and place it next to the small oval brown potato' [task_sampler.py: 1136] +05/27 18:42:16 INFO: [Worker 0] Worker 0 house 8881 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 18:42:16 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 18:43:52 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 18:45:58 INFO: [Worker 0] Worker 0 house 8881 episode 0 object vase_d568e4c5c2948c69c05d527517276b06_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 18:46:02 INFO: [Worker 0] Batching and saving trajectory data for house_8881: 1 episodes [pipeline.py: 233] +05/27 18:46:02 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 18:46:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 18:46:04 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8881 [save_utils.py: 703] +05/27 18:46:04 INFO: [Worker 0] Successfully saved trajectory data for house_8881 in 2.40s (batch: 2.31s, save: 0.09s) [pipeline.py: 280] +05/27 18:46:05 WARNING: [Worker 0] No trajectory data to save for house_8881 [pipeline.py: 229] +05/27 18:46:05 INFO: [Worker 0] Worker 0 completed house 8881: 0/1 successful episodes [pipeline.py: 1243] +05/27 18:46:05 INFO: [Worker 0] Worker 0 starting house 8952 (index 101/115) [pipeline.py: 473] +05/27 18:46:05 INFO: [Worker 0] Loaded 1 episodes for house 8952 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 18:46:05 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 18:46:19 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_8952_ceiling.xml [task_sampler.py: 797] +05/27 18:46:19 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=8952, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 18:46:19 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 18:46:19 INFO: [Worker 0] randomize_scene: Setting poses for 68 objects [json_eval_task_sampler.py: 686] +05/27 18:46:19 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 18:46:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 18:46:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 18:46:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 18:46:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 18:46:20 INFO: [Worker 0] Sampled task 'Pick up the red compact handheld device with label and place it next to the smooth light ceramic bowl' [task_sampler.py: 1136] +05/27 18:46:20 INFO: [Worker 0] Worker 0 house 8952 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 18:46:20 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 18:46:20 WARNING: [Worker 0] Could not find object pencil_2c624e64d6f8a208a3a089ad77d16aa1_1_0_9 in scene [object_manager.py: 1238] +05/27 18:48:00 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 19:01:27 INFO: [Worker 0] Worker 0 house 8952 episode 0 object objatool_9796cef620844a89ad045826ed1ae1d1_1_0_8 completed with success=False [pipeline.py: 1114] +05/27 19:01:31 INFO: [Worker 0] Batching and saving trajectory data for house_8952: 1 episodes [pipeline.py: 233] +05/27 19:01:31 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 19:01:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 19:01:34 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_8952 [save_utils.py: 703] +05/27 19:01:34 INFO: [Worker 0] Successfully saved trajectory data for house_8952 in 2.94s (batch: 2.84s, save: 0.10s) [pipeline.py: 280] +05/27 19:01:34 WARNING: [Worker 0] No trajectory data to save for house_8952 [pipeline.py: 229] +05/27 19:01:34 INFO: [Worker 0] Worker 0 completed house 8952: 0/1 successful episodes [pipeline.py: 1243] +05/27 19:01:34 INFO: [Worker 0] Worker 0 starting house 9022 (index 102/115) [pipeline.py: 473] +05/27 19:01:34 INFO: [Worker 0] Loaded 1 episodes for house 9022 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 19:01:34 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 19:01:48 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9022_ceiling.xml [task_sampler.py: 797] +05/27 19:01:48 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9022, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 19:01:48 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 19:01:48 INFO: [Worker 0] randomize_scene: Setting poses for 40 objects [json_eval_task_sampler.py: 686] +05/27 19:01:48 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 19:01:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 19:01:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 19:01:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 19:01:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 19:01:48 INFO: [Worker 0] Sampled task 'Pick up the smooth yellow apple with stem and place it next to the fresh green lettuce' [task_sampler.py: 1136] +05/27 19:01:48 INFO: [Worker 0] Worker 0 house 9022 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 19:01:48 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 19:03:31 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 19:13:27 INFO: [Worker 0] Worker 0 house 9022 episode 0 object apple_e4633a6eeab3bd9cfd60227d76a684e8_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 19:13:31 INFO: [Worker 0] Batching and saving trajectory data for house_9022: 1 episodes [pipeline.py: 233] +05/27 19:13:31 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 19:13:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 19:13:34 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9022 [save_utils.py: 703] +05/27 19:13:34 INFO: [Worker 0] Successfully saved trajectory data for house_9022 in 2.79s (batch: 2.70s, save: 0.10s) [pipeline.py: 280] +05/27 19:13:35 WARNING: [Worker 0] No trajectory data to save for house_9022 [pipeline.py: 229] +05/27 19:13:35 INFO: [Worker 0] Worker 0 completed house 9022: 0/1 successful episodes [pipeline.py: 1243] +05/27 19:13:35 INFO: [Worker 0] Worker 0 starting house 9087 (index 103/115) [pipeline.py: 473] +05/27 19:13:35 INFO: [Worker 0] Loaded 1 episodes for house 9087 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 19:13:35 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 19:13:37 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9087_ceiling.xml [task_sampler.py: 797] +05/27 19:13:37 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9087, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 19:13:37 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 19:13:37 INFO: [Worker 0] randomize_scene: Setting poses for 23 objects [json_eval_task_sampler.py: 686] +05/27 19:13:37 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 19:13:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 19:13:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 19:13:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 19:13:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 19:13:37 INFO: [Worker 0] Sampled task 'Pick up the miniature trafficlight with red light and place it next to the slim rectangular red phone device' [task_sampler.py: 1136] +05/27 19:13:37 INFO: [Worker 0] Worker 0 house 9087 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 19:13:37 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 19:15:16 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 19:20:52 INFO: [Worker 0] Worker 0 house 9087 episode 0 object objaminiaturetrafficlight_30f361478c8143fbb463dcf9b2a0cb61_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 19:20:56 INFO: [Worker 0] Batching and saving trajectory data for house_9087: 1 episodes [pipeline.py: 233] +05/27 19:20:56 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 19:20:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 19:20:59 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9087 [save_utils.py: 703] +05/27 19:20:59 INFO: [Worker 0] Successfully saved trajectory data for house_9087 in 2.71s (batch: 2.62s, save: 0.09s) [pipeline.py: 280] +05/27 19:21:00 WARNING: [Worker 0] No trajectory data to save for house_9087 [pipeline.py: 229] +05/27 19:21:00 INFO: [Worker 0] Worker 0 completed house 9087: 0/1 successful episodes [pipeline.py: 1243] +05/27 19:21:00 INFO: [Worker 0] Worker 0 starting house 9152 (index 104/115) [pipeline.py: 473] +05/27 19:21:00 INFO: [Worker 0] Loaded 2 episodes for house 9152 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 19:21:00 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 19:21:29 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9152_ceiling.xml [task_sampler.py: 797] +05/27 19:21:29 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9152, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 19:21:29 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 19:21:29 INFO: [Worker 0] randomize_scene: Setting poses for 65 objects [json_eval_task_sampler.py: 686] +05/27 19:21:29 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 19:21:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 19:21:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 19:21:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 19:21:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 19:21:29 INFO: [Worker 0] Sampled task 'Pick up the metallic needle-nose pliers with grips and place it next to the smooth gray bowl' [task_sampler.py: 1136] +05/27 19:21:29 INFO: [Worker 0] Worker 0 house 9152 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/27 19:21:29 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 19:21:29 WARNING: [Worker 0] Could not find object objaarchaeologicalmodel_d8275f5a478c4157a9ecbb8562034789_1_0_2 in scene [object_manager.py: 1238] +05/27 19:21:29 WARNING: [Worker 0] Could not find object apple_0a9ba98f2af520d91d8acc78da62b984_1_0_2 in scene [object_manager.py: 1238] +05/27 19:23:08 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 19:37:16 INFO: [Worker 0] Worker 0 house 9152 episode 0 object objaneedlenosepliers_0079418517784f2bbf0aec6fd8de3cde_1_0_4 completed with success=False [pipeline.py: 1114] +05/27 19:37:20 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 19:37:24 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9152_ceiling.xml [task_sampler.py: 797] +05/27 19:37:24 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9152, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 19:37:24 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 19:37:24 INFO: [Worker 0] randomize_scene: Setting poses for 65 objects [json_eval_task_sampler.py: 686] +05/27 19:37:24 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 19:37:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 19:37:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 19:37:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 19:37:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 19:37:24 INFO: [Worker 0] Sampled task 'Pick up the red futuristic handheld device with grip and place it next to the black stylized handgun with blue accents' [task_sampler.py: 1136] +05/27 19:37:24 INFO: [Worker 0] Worker 0 house 9152 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/27 19:37:24 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 19:37:24 WARNING: [Worker 0] Could not find object objaarchaeologicalmodel_d8275f5a478c4157a9ecbb8562034789_1_0_2 in scene [object_manager.py: 1238] +05/27 19:37:24 WARNING: [Worker 0] Could not find object apple_0a9ba98f2af520d91d8acc78da62b984_1_0_2 in scene [object_manager.py: 1238] +05/27 19:39:01 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 19:53:08 INFO: [Worker 0] Worker 0 house 9152 episode 1 object objatoygun_8a193bd9d7944b5baf2031f5fb80a7a3_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 19:53:12 INFO: [Worker 0] Batching and saving trajectory data for house_9152: 2 episodes [pipeline.py: 233] +05/27 19:53:12 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 19:53:14 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 19:53:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 19:53:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 19:53:17 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9152 [save_utils.py: 703] +05/27 19:53:17 INFO: [Worker 0] Successfully saved trajectory data for house_9152 in 4.93s (batch: 4.75s, save: 0.17s) [pipeline.py: 280] +05/27 19:53:17 WARNING: [Worker 0] No trajectory data to save for house_9152 [pipeline.py: 229] +05/27 19:53:17 INFO: [Worker 0] Worker 0 completed house 9152: 0/2 successful episodes [pipeline.py: 1243] +05/27 19:53:17 INFO: [Worker 0] Worker 0 starting house 9156 (index 105/115) [pipeline.py: 473] +05/27 19:53:17 INFO: [Worker 0] Loaded 1 episodes for house 9156 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 19:53:17 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 19:53:33 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9156_ceiling.xml [task_sampler.py: 797] +05/27 19:53:33 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9156, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 19:53:33 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 19:53:33 INFO: [Worker 0] randomize_scene: Setting poses for 82 objects [json_eval_task_sampler.py: 686] +05/27 19:53:33 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 19:53:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 19:53:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 19:53:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 19:53:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 19:53:33 INFO: [Worker 0] Sampled task 'Pick up the locking pliers and place it next to the soapdispenser' [task_sampler.py: 1136] +05/27 19:53:33 INFO: [Worker 0] Worker 0 house 9156 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 19:53:33 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 19:55:12 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 20:11:10 INFO: [Worker 0] Worker 0 house 9156 episode 0 object objalockingpliers_7f19504fdb2e477998ed871275f43b06_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 20:11:13 INFO: [Worker 0] Batching and saving trajectory data for house_9156: 1 episodes [pipeline.py: 233] +05/27 20:11:13 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 20:11:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 20:11:16 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9156 [save_utils.py: 703] +05/27 20:11:16 INFO: [Worker 0] Successfully saved trajectory data for house_9156 in 2.66s (batch: 2.57s, save: 0.09s) [pipeline.py: 280] +05/27 20:11:16 WARNING: [Worker 0] No trajectory data to save for house_9156 [pipeline.py: 229] +05/27 20:11:16 INFO: [Worker 0] Worker 0 completed house 9156: 0/1 successful episodes [pipeline.py: 1243] +05/27 20:11:16 INFO: [Worker 0] Worker 0 starting house 9234 (index 106/115) [pipeline.py: 473] +05/27 20:11:16 INFO: [Worker 0] Loaded 1 episodes for house 9234 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 20:11:16 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 20:11:22 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9234_ceiling.xml [task_sampler.py: 797] +05/27 20:11:22 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9234, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 20:11:22 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 20:11:22 INFO: [Worker 0] randomize_scene: Setting poses for 52 objects [json_eval_task_sampler.py: 686] +05/27 20:11:22 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 20:11:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 20:11:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 20:11:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 20:11:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 20:11:22 INFO: [Worker 0] Sampled task 'Pick up the colorful flower and place it next to the oval brown potato' [task_sampler.py: 1136] +05/27 20:11:22 INFO: [Worker 0] Worker 0 house 9234 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 20:11:22 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 20:13:01 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 20:18:03 INFO: [Worker 0] Worker 0 house 9234 episode 0 object objaflowersculpture_4d3f1c2044814320af551030c3bf0e9d_1_0_6 completed with success=False [pipeline.py: 1114] +05/27 20:18:06 INFO: [Worker 0] Batching and saving trajectory data for house_9234: 1 episodes [pipeline.py: 233] +05/27 20:18:06 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 20:18:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 20:18:09 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9234 [save_utils.py: 703] +05/27 20:18:09 INFO: [Worker 0] Successfully saved trajectory data for house_9234 in 2.43s (batch: 2.33s, save: 0.09s) [pipeline.py: 280] +05/27 20:18:09 WARNING: [Worker 0] No trajectory data to save for house_9234 [pipeline.py: 229] +05/27 20:18:09 INFO: [Worker 0] Worker 0 completed house 9234: 0/1 successful episodes [pipeline.py: 1243] +05/27 20:18:09 INFO: [Worker 0] Worker 0 starting house 9308 (index 107/115) [pipeline.py: 473] +05/27 20:18:09 INFO: [Worker 0] Loaded 1 episodes for house 9308 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 20:18:09 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 20:18:20 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9308_ceiling.xml [task_sampler.py: 797] +05/27 20:18:20 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9308, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 20:18:20 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 20:18:20 INFO: [Worker 0] randomize_scene: Setting poses for 40 objects [json_eval_task_sampler.py: 686] +05/27 20:18:20 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 20:18:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 20:18:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 20:18:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 20:18:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 20:18:20 INFO: [Worker 0] Sampled task 'Pick up the wooden humanoid puzzle piece and place it next to the shiny gold vase' [task_sampler.py: 1136] +05/27 20:18:20 INFO: [Worker 0] Worker 0 house 9308 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 20:18:20 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 20:19:58 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 20:29:17 INFO: [Worker 0] Worker 0 house 9308 episode 0 object objapuzzlepiece_2dbbd65cb2614e8481d2b1f0760c37a8_1_0_7 completed with success=False [pipeline.py: 1114] +05/27 20:29:20 INFO: [Worker 0] Batching and saving trajectory data for house_9308: 1 episodes [pipeline.py: 233] +05/27 20:29:20 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 20:29:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 20:29:23 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9308 [save_utils.py: 703] +05/27 20:29:23 INFO: [Worker 0] Successfully saved trajectory data for house_9308 in 2.40s (batch: 2.31s, save: 0.09s) [pipeline.py: 280] +05/27 20:29:23 WARNING: [Worker 0] No trajectory data to save for house_9308 [pipeline.py: 229] +05/27 20:29:23 INFO: [Worker 0] Worker 0 completed house 9308: 0/1 successful episodes [pipeline.py: 1243] +05/27 20:29:23 INFO: [Worker 0] Worker 0 starting house 9422 (index 108/115) [pipeline.py: 473] +05/27 20:29:23 INFO: [Worker 0] Loaded 1 episodes for house 9422 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 20:29:23 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 20:29:42 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9422_ceiling.xml [task_sampler.py: 797] +05/27 20:29:42 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9422, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 20:29:42 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 20:29:42 INFO: [Worker 0] randomize_scene: Setting poses for 66 objects [json_eval_task_sampler.py: 686] +05/27 20:29:42 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 20:29:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 20:29:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 20:29:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 20:29:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 20:29:42 INFO: [Worker 0] Sampled task 'Pick up the teal cat and place it next to the rustic round beige ceramic plate' [task_sampler.py: 1136] +05/27 20:29:42 INFO: [Worker 0] Worker 0 house 9422 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 20:29:42 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 20:29:42 WARNING: [Worker 0] Could not find object objatoyspacecraft_f42792c81950490faaabc21ae1f2019a_1_0_2 in scene [object_manager.py: 1238] +05/27 20:29:42 WARNING: [Worker 0] Could not find object Irishpotato_27f41066f714b93c23f7a8f42a932407_1_0_2 in scene [object_manager.py: 1238] +05/27 20:29:42 WARNING: [Worker 0] Could not find object tomato_8c4ab0ebeae63b9cd60e6686b8602751_1_0_2 in scene [object_manager.py: 1238] +05/27 20:29:42 WARNING: [Worker 0] Could not find object objadecorativebadge_8a1845ddd6fa4a2e8102c30675ff11e5_1_0_6 in scene [object_manager.py: 1238] +05/27 20:42:38 INFO: [Worker 0] Worker 0 house 9422 episode 0 object objaceramiccat_eda025dda9404765b762d841da229c33_1_0_2 completed with success=False [pipeline.py: 1114] +05/27 20:42:42 INFO: [Worker 0] Batching and saving trajectory data for house_9422: 1 episodes [pipeline.py: 233] +05/27 20:42:42 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 20:42:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 20:42:45 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9422 [save_utils.py: 703] +05/27 20:42:45 INFO: [Worker 0] Successfully saved trajectory data for house_9422 in 2.72s (batch: 2.63s, save: 0.09s) [pipeline.py: 280] +05/27 20:42:45 WARNING: [Worker 0] No trajectory data to save for house_9422 [pipeline.py: 229] +05/27 20:42:45 INFO: [Worker 0] Worker 0 completed house 9422: 0/1 successful episodes [pipeline.py: 1243] +05/27 20:42:45 INFO: [Worker 0] Worker 0 starting house 9496 (index 109/115) [pipeline.py: 473] +05/27 20:42:45 INFO: [Worker 0] Loaded 1 episodes for house 9496 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 20:42:45 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 20:43:41 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9496_ceiling.xml [task_sampler.py: 797] +05/27 20:43:41 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9496, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 20:43:41 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 20:43:41 INFO: [Worker 0] randomize_scene: Setting poses for 64 objects [json_eval_task_sampler.py: 686] +05/27 20:43:41 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 20:43:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 20:43:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 20:43:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 20:43:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 20:43:41 INFO: [Worker 0] Sampled task 'Pick up the movie camera and place it next to the green floral wedding invitation' [task_sampler.py: 1136] +05/27 20:43:41 INFO: [Worker 0] Worker 0 house 9496 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 20:43:41 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 20:59:40 INFO: [Worker 0] Worker 0 house 9496 episode 0 object objamoviecamera_64bd72851ef349ef9cd24403df1789ad_1_0_8 completed with success=False [pipeline.py: 1114] +05/27 20:59:44 INFO: [Worker 0] Batching and saving trajectory data for house_9496: 1 episodes [pipeline.py: 233] +05/27 20:59:44 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 20:59:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 20:59:47 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9496 [save_utils.py: 703] +05/27 20:59:47 INFO: [Worker 0] Successfully saved trajectory data for house_9496 in 2.87s (batch: 2.78s, save: 0.09s) [pipeline.py: 280] +05/27 20:59:48 WARNING: [Worker 0] No trajectory data to save for house_9496 [pipeline.py: 229] +05/27 20:59:48 INFO: [Worker 0] Worker 0 completed house 9496: 0/1 successful episodes [pipeline.py: 1243] +05/27 20:59:48 INFO: [Worker 0] Worker 0 starting house 9554 (index 110/115) [pipeline.py: 473] +05/27 20:59:48 INFO: [Worker 0] Loaded 1 episodes for house 9554 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 20:59:48 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 21:00:10 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9554_ceiling.xml [task_sampler.py: 797] +05/27 21:00:10 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9554, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 21:00:10 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 21:00:10 INFO: [Worker 0] randomize_scene: Setting poses for 65 objects [json_eval_task_sampler.py: 686] +05/27 21:00:10 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 21:00:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 21:00:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 21:00:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 21:00:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 21:00:10 INFO: [Worker 0] Sampled task 'Pick up the black spray paint can and place it next to the olive scalloped ceramic plate' [task_sampler.py: 1136] +05/27 21:00:10 INFO: [Worker 0] Worker 0 house 9554 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 21:00:10 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 21:00:11 WARNING: [Worker 0] Could not find object objawallplaque_4ac6037405274ec4893b7979a707d625_1_0_6 in scene [object_manager.py: 1238] +05/27 21:00:11 WARNING: [Worker 0] Could not find object laptop_de5352f233c6a9b4bf912bb08ebc2810_1_0_6 in scene [object_manager.py: 1238] +05/27 21:00:11 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 21:14:29 INFO: [Worker 0] Worker 0 house 9554 episode 0 object objaspraypaintcan_0adc4e0dd1344d91a71a1597933db68e_1_0_9 completed with success=False [pipeline.py: 1114] +05/27 21:14:33 INFO: [Worker 0] Batching and saving trajectory data for house_9554: 1 episodes [pipeline.py: 233] +05/27 21:14:33 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 21:14:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 21:14:36 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9554 [save_utils.py: 703] +05/27 21:14:36 INFO: [Worker 0] Successfully saved trajectory data for house_9554 in 2.59s (batch: 2.50s, save: 0.09s) [pipeline.py: 280] +05/27 21:14:36 WARNING: [Worker 0] No trajectory data to save for house_9554 [pipeline.py: 229] +05/27 21:14:36 INFO: [Worker 0] Worker 0 completed house 9554: 0/1 successful episodes [pipeline.py: 1243] +05/27 21:14:36 INFO: [Worker 0] Worker 0 starting house 9642 (index 111/115) [pipeline.py: 473] +05/27 21:14:36 INFO: [Worker 0] Loaded 1 episodes for house 9642 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 21:14:36 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 21:15:00 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9642_ceiling.xml [task_sampler.py: 797] +05/27 21:15:00 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9642, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 21:15:00 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 21:15:00 INFO: [Worker 0] randomize_scene: Setting poses for 23 objects [json_eval_task_sampler.py: 686] +05/27 21:15:00 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 21:15:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 21:15:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 21:15:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 21:15:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 21:15:00 INFO: [Worker 0] Sampled task 'Pick up the white aerosol can with rusted top and place it next to the white tape dispenser' [task_sampler.py: 1136] +05/27 21:15:00 INFO: [Worker 0] Worker 0 house 9642 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 21:15:00 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 21:15:00 WARNING: [Worker 0] Could not find object objabrush_f8f0d72e40d24bf8afa4b0157cbcb7c7_1_0_3 in scene [object_manager.py: 1238] +05/27 21:25:04 INFO: [Worker 0] Worker 0 house 9642 episode 0 object objaaerosolcan_b6b64dc8ae6049dbba19ae2cef3575bb_1_0_3 completed with success=False [pipeline.py: 1114] +05/27 21:25:08 INFO: [Worker 0] Batching and saving trajectory data for house_9642: 1 episodes [pipeline.py: 233] +05/27 21:25:08 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 21:25:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 21:25:10 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9642 [save_utils.py: 703] +05/27 21:25:10 INFO: [Worker 0] Successfully saved trajectory data for house_9642 in 2.65s (batch: 2.56s, save: 0.09s) [pipeline.py: 280] +05/27 21:25:11 WARNING: [Worker 0] No trajectory data to save for house_9642 [pipeline.py: 229] +05/27 21:25:11 INFO: [Worker 0] Worker 0 completed house 9642: 0/1 successful episodes [pipeline.py: 1243] +05/27 21:25:11 INFO: [Worker 0] Worker 0 starting house 9719 (index 112/115) [pipeline.py: 473] +05/27 21:25:11 INFO: [Worker 0] Loaded 1 episodes for house 9719 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 21:25:11 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 21:25:16 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/27 21:25:19 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9719_ceiling.xml [task_sampler.py: 797] +05/27 21:25:19 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9719, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 21:25:19 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 21:25:19 INFO: [Worker 0] randomize_scene: Setting poses for 62 objects [json_eval_task_sampler.py: 686] +05/27 21:25:19 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 21:25:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 21:25:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 21:25:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 21:25:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 21:25:19 INFO: [Worker 0] Sampled task 'Pick up the dark vintage rectangular chocolate mold and place it next to the sleek black toaster with red sides' [task_sampler.py: 1136] +05/27 21:25:19 INFO: [Worker 0] Worker 0 house 9719 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 21:25:19 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 21:25:19 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene [object_manager.py: 1238] +05/27 21:26:55 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 21:40:26 INFO: [Worker 0] Worker 0 house 9719 episode 0 object objachocolatemold_f410c9f5784d435ea17c89e2f51bc439_1_0_8 completed with success=False [pipeline.py: 1114] +05/27 21:40:29 INFO: [Worker 0] Batching and saving trajectory data for house_9719: 1 episodes [pipeline.py: 233] +05/27 21:40:29 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 21:40:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 21:40:31 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9719 [save_utils.py: 703] +05/27 21:40:31 INFO: [Worker 0] Successfully saved trajectory data for house_9719 in 2.37s (batch: 2.28s, save: 0.09s) [pipeline.py: 280] +05/27 21:40:32 WARNING: [Worker 0] No trajectory data to save for house_9719 [pipeline.py: 229] +05/27 21:40:32 INFO: [Worker 0] Worker 0 completed house 9719: 0/1 successful episodes [pipeline.py: 1243] +05/27 21:40:32 INFO: [Worker 0] Worker 0 starting house 9886 (index 113/115) [pipeline.py: 473] +05/27 21:40:32 INFO: [Worker 0] Loaded 1 episodes for house 9886 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 21:40:32 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 21:40:41 INFO: [Worker 0] Deleted 1 blacklisted bodies from scene [scene_maps.py: 66] +05/27 21:40:45 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9886_ceiling.xml [task_sampler.py: 797] +05/27 21:40:45 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9886, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 21:40:45 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 21:40:45 INFO: [Worker 0] randomize_scene: Setting poses for 56 objects [json_eval_task_sampler.py: 686] +05/27 21:40:45 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 21:40:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 21:40:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 21:40:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 21:40:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 21:40:45 INFO: [Worker 0] Sampled task 'Pick up the turquoise can and place it next to the brown loaf bread' [task_sampler.py: 1136] +05/27 21:40:45 INFO: [Worker 0] Worker 0 house 9886 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 21:40:45 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 21:40:45 WARNING: [Worker 0] Could not find object objadispenser_dae48a392c5a4f3aa00235e664ee7d4d_1_0_7 in scene [object_manager.py: 1238] +05/27 21:40:45 WARNING: [Worker 0] Could not find object objaspraycan_e3227ecd37d44cd6be1331941d9cfa2f_1_0_7 in scene [object_manager.py: 1238] +05/27 21:40:45 WARNING: [Worker 0] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_7 in scene [object_manager.py: 1238] +05/27 21:54:20 INFO: [Worker 0] Worker 0 house 9886 episode 0 object objafoodcan_7f5083c31b074cc3a08bf2bd4ef16591_1_0_8 completed with success=False [pipeline.py: 1114] +05/27 21:54:23 INFO: [Worker 0] Batching and saving trajectory data for house_9886: 1 episodes [pipeline.py: 233] +05/27 21:54:23 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 21:54:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 21:54:25 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9886 [save_utils.py: 703] +05/27 21:54:25 INFO: [Worker 0] Successfully saved trajectory data for house_9886 in 2.37s (batch: 2.28s, save: 0.09s) [pipeline.py: 280] +05/27 21:54:26 WARNING: [Worker 0] No trajectory data to save for house_9886 [pipeline.py: 229] +05/27 21:54:26 INFO: [Worker 0] Worker 0 completed house 9886: 0/1 successful episodes [pipeline.py: 1243] +05/27 21:54:26 INFO: [Worker 0] Worker 0 starting house 9958 (index 114/115) [pipeline.py: 473] +05/27 21:54:26 INFO: [Worker 0] Loaded 1 episodes for house 9958 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/27 21:54:26 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/27 21:54:49 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-objaverse-val/val_9958_ceiling.xml [task_sampler.py: 797] +05/27 21:54:49 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=9958, scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 662] +05/27 21:54:49 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-objaverse, data_split=val [json_eval_task_sampler.py: 668] +05/27 21:54:49 INFO: [Worker 0] randomize_scene: Setting poses for 60 objects [json_eval_task_sampler.py: 686] +05/27 21:54:49 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/27 21:54:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/27 21:54:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera_zed_mini' [camera_manager.py: 510] +05/27 21:54:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'droid_shoulder_light_randomization' [camera_manager.py: 510] +05/27 21:54:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/27 21:54:49 INFO: [Worker 0] Sampled task 'Pick up the curved ceramic tube and place it next to the yellow apple with stem' [task_sampler.py: 1136] +05/27 21:54:49 INFO: [Worker 0] Worker 0 house 9958 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/27 21:54:49 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/27 21:56:25 WARNING: [Worker 0] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/27 22:09:57 INFO: [Worker 0] Worker 0 house 9958 episode 0 object objapipe_bf11f43f2d674918b4618bfbacaef123_1_0_8 completed with success=False [pipeline.py: 1114] +05/27 22:10:00 INFO: [Worker 0] Batching and saving trajectory data for house_9958: 1 episodes [pipeline.py: 233] +05/27 22:10:00 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/27 22:10:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/27 22:10:03 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2/pnp_next_to_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_194815/house_9958 [save_utils.py: 703] +05/27 22:10:03 INFO: [Worker 0] Successfully saved trajectory data for house_9958 in 2.41s (batch: 2.32s, save: 0.09s) [pipeline.py: 280] +05/27 22:10:03 WARNING: [Worker 0] No trajectory data to save for house_9958 [pipeline.py: 229] +05/27 22:10:03 INFO: [Worker 0] Worker 0 completed house 9958: 0/1 successful episodes [pipeline.py: 1243] +05/27 22:10:03 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 526] +05/27 22:10:04 INFO: Completed 115 houses, skipped 0 houses [pipeline.py: 1496] +05/27 22:10:04 INFO: Success count: 2, Total count: 119 [pipeline.py: 1499] +05/27 22:10:04 INFO: Success rate: 1.68% [pipeline.py: 1500] diff --git a/pnp_v2/pnp_v2/shards/shard_00.launcher.log b/pnp_v2/pnp_v2/shards/shard_00.launcher.log new file mode 100644 index 0000000000000000000000000000000000000000..4021a051a3cacf572c05ee236501a04368a12b43 --- /dev/null +++ b/pnp_v2/pnp_v2/shards/shard_00.launcher.log @@ -0,0 +1,1516 @@ +================================================================================ +Official MolmoSpaces Submission Run +================================================================================ +Checkpoint : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt +Benchmark dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +Output root : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00 +Eval output dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval +Submission dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/submission +Conda env : molmospace +Policy name : latest +Policy device : cuda:0 +Text embedding device : cpu +Prompt cache dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan +Workers : 1 +Task horizon steps : 450 +Action chunk size : 8 +Obs camera : droid_shoulder_light_randomization +Obs wrist camera : wrist_camera_zed_mini +Camera names : droid_shoulder_light_randomization wrist_camera_zed_mini +Preview camera names : droid_shoulder_light_randomization +End on success : 1 +Visualization : 0 +Save raw videos : 0 +Save video sensors : __none__ +Success condition (CSV) : both + +Official runner : molmo_spaces.evaluation.run_evaluation() +CSV exporter : molmospaces/scripts/benchmarks/eval_to_csv.py + +Command +conda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament +================================================================================ +[2026-05-26 01:03:53,028] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath'] +[2026-05-26 01:03:53,101] INFO Selected MuJoCo backend: egl +[2026-05-26 01:03:53,119] INFO Using MolmoSpaces benchmark: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 (source=arg) +[2026-05-26 01:03:56,050] INFO No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +[nltk_data] Downloading package wordnet to /home/yuanpei/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /home/yuanpei/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +[2026-05-26 01:04:07,335] INFO ResourceManager (R2RemoteStorage('https://pub-3555e9bb2d304fab9c6c79819e48aa40.r2.dev')) using: + symlink_dir=/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets + cache_dir=/home/yuanpei/.cache/molmo-spaces-resources + force_install=True +/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py:129: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +[2026-05-26 01:04:32,495] INFO Requested MolmoSpaces simulator cameras: ['droid_shoulder_light_randomization', 'wrist_camera_zed_mini'] +[2026-05-26 01:04:32,499] INFO Using save_video_sensors=['__none__'] +[2026-05-26 01:04:37,293] INFO Resolved MolmoSpaces action semantics from checkpoint: source=pnp_next_to_v2 type=molmo_raw arm_action_key=joint_pos_rel gripper_action_key=joint_pos action_type=joint_pos_rel arm_command_mode=joint_rel_position +[2026-05-26 01:04:37,349] INFO Using explicit task_horizon override: 450 steps +[05/26 01:04:37 INFO pipeline.py:677] WandB logging disabled (environment variables not set) +[2026-05-26 01:04:37,427] INFO JsonEvalRunner initialized: 37 houses, 42 episodes from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 01:04:37 INFO pipeline.py:1279] Starting house-by-house rollout of 37 houses with 2 episodes each (74 total episodes) using 1 worker processes +[05/26 01:04:37 INFO pipeline.py:1286] Evaluation configuration: +[05/26 01:04:37 INFO pipeline.py:1287] {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['droid_shoulder_light_randomization', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 'wan_molmobot_franka', + 'obs_camera_name': 'droid_shoulder_light_randomization', + 'obs_image_key': 'rgb_head', + 'obs_state_key': 'robot_state', + 'obs_wrist_camera_name': 'wrist_camera_zed_mini', + 'obs_wrist_image_key': 'rgb_wrist', + 'policy_cls': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [3871, + 3898, + 3945, + 3990, + 4017, + 4068, + 4133, + 4205, + 4270, + 4295, + 4346, + 4374, + 4411, + 4484, + 4540, + 4584, + 4641, + 4698, + 4707, + 4738, + 4765, + 4803, + 4857, + 4916, + 4982, + 5004, + 5020, + 5115, + 5164, + 5218, + 5287, + 5359, + 5389, + 5424, + 5465, + 5491, + 5537], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} +[2026-05-26 01:04:37,456] INFO Saved experiment configuration to /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437 +[05/26 01:04:37 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler +[05/26 01:04:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/26 01:04:37 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler +[05/26 01:04:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3871 (index 0/37) +[05/26 01:04:37 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 3871 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 01:04:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes + Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +[05/26 01:04:59 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativecandle_0c791ace8deb4316bd377aa7fb553517_1_0_5 in scene +[05/26 01:04:59 Worker 0 WARNING object_manager.py:1238] Could not find object objacollar_5f329a75ab1a4890868ba37061ca3396_1_0_5 in scene +2026-05-26 01:06:03.158 | INFO | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0 +[2026-05-26 01:06:37,059] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k) +[2026-05-26 01:06:46,970] INFO [timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k] Safe alternative available for 'pytorch_model.bin' (as 'model.safetensors'). Loading weights using safetensors. +[2026-05-26 01:08:54,462] INFO Number of parameters in DiT: 1.821428e+07 +[2026-05-26 01:09:06,519] INFO Loaded generic psi-policy checkpoint | target=psi_policy.policy.psi_policy.PsiPolicy | obs_keys=['rgb_head', 'rgb_wrist', 'robot_state', 'text_context'] | action_horizon=16 | action_dim=8 +[2026-05-26 01:09:06,530] INFO Loaded MolmoSpaces policy | checkpoint=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt | target=psi_policy.policy.psi_policy.PsiPolicy | device=cuda:0 | action_chunk_size=8 +[05/26 01:13:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 3871 episode 0 object objadriedfish_00fbc8e52f834ba78b25ffb6962b98e8_1_0_8 completed with success=False +[05/26 01:14:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'proct[05/26 01:14:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objath Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +[05/26 01:31:51 Worker 0 WARNING object_manager.py:1238] Could not find object objapliers_de2e9e84e52844a0ab522e5e98202453_1_0_2 in scene +[05/26 01:31:51 Worker 0 WARNING object_manager.py:1238] Could not find object objabakedgood_454783f25d8c46ac87969c8f161b1a16_1_0_2 in scene +[2026-05-26 01:33:00,575] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/huggingface_hub/file_download.py:945: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`. + warnings.warn( +[05/26 01:33:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:38:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 3898 episode 0 object objascrew_477a7178be2b4f709bb4fe2d724f47cf_1_0_2 completed with success=False +[05/26 01:39:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3898: 1 episodes +[05/26 01:39:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:39:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:39:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_3898 +[05/26 01:39:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3898 in 3.27s (batch: 3.11s, save: 0.16s) +[05/26 01:39:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3898 +[05/26 01:39:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3898: 0/1 successful episodes +[05/26 01:39:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3945 (index 2/37) +[05/26 01:39:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3945 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 01:39:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +[2026-05-26 01:42:54,815] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 01:43:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:46:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 3945 episode 0 object objadecorativefixture_e14a2e218f6e4a588489e4b5508bff5e_1_0_3 completed with success=False +[05/26 01:46:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3945: 1 episodes +[05/26 01:46:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:46:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:46:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_3945 +[05/26 01:46:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3945 in 2.52s (batch: 2.43s, save: 0.09s) +[05/26 01:46:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3945 +[05/26 01:46:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3945: 0/1 successful episodes +[05/26 01:46:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3990 (index 3/37) +[05/26 01:46:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3990 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 01:46:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[05/26 01:53:24 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +[2026-05-26 01:54:26,314] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 01:54:44 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:57:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 3990 episode 0 object objaopticaldevice_03c6cfba0c13448faef5a7149bf7be86_1_0_4 completed with success=False +[05/26 01:57:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3990: 1 episodes +[05/26 01:57:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:57:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:57:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_3990 +[05/26 01:57:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3990 in 3.29s (batch: 3.10s, save: 0.20s) +[05/26 01:57:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3990 +[05/26 01:57:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3990: 0/1 successful episodes +[05/26 01:57:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4017 (index 4/37) +[05/26 01:57:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4017 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 01:57:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +[2026-05-26 02:00:24,132] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:01:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:06:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 4017 episode 0 object objadecorativefoodmodel_9c9d11d317814c2085da004146c4917c_1_0_8 completed with success=False +[05/26 02:06:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4017: 1 episodes +[05/26 02:06:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:06:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:06:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4017 +[05/26 02:06:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4017 in 3.39s (batch: 3.25s, save: 0.14s) +[05/26 02:06:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4017 +[05/26 02:06:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4017: 0/1 successful episodes +[05/26 02:06:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4068 (index 5/37) +[05/26 02:06:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4068 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 02:06:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[2026-05-26 02:08:55,106] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:10:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:16:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 4068 episode 0 object objatelephonehandset_0ddfdf35baa6475d9ba001a570eaeebd_1_0_7 completed with success=False +[05/26 02:16:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4068: 1 episodes +[05/26 02:16:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:16:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:16:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4068 +[05/26 02:16:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4068 in 2.90s (batch: 2.78s, save: 0.12s) +[05/26 02:16:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4068 +[05/26 02:16:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4068: 0/1 successful episodes +[05/26 02:16:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4133 (index 6/37) +[05/26 02:16:35 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4133 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 02:16:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/60 [00:00 does not support tracking retries. +[2026-05-26 02:18:30,741] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:23:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 4133 episode 0 object objagreetingcard_5c7029b2edd248cdafcfd33c93ff1728_1_0_7 completed with success=False +[05/26 02:23:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4133: 1 episodes +[05/26 02:23:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:23:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:23:41 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4133 +[05/26 02:23:41 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4133 in 3.72s (batch: 3.52s, save: 0.20s) +[05/26 02:23:42 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4133 +[05/26 02:23:42 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4133: 0/1 successful episodes +[05/26 02:23:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4205 (index 7/37) +[05/26 02:23:42 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4205 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 02:23:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[2026-05-26 02:26:05,285] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:27:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:31:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 4205 episode 0 object objateacup_ccc2c0af285d479b8c5961d3c678aefc_1_0_7 completed with success=False +[05/26 02:31:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4205: 1 episodes +[05/26 02:31:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:31:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:31:26 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4205 +[05/26 02:31:26 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4205 in 3.00s (batch: 2.85s, save: 0.15s) +[05/26 02:31:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4205 +[05/26 02:31:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4205: 0/1 successful episodes +[05/26 02:31:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4270 (index 8/37) +[05/26 02:31:27 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4270 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 02:31:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +[2026-05-26 02:32:55,064] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:33:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:37:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 4270 episode 0 object plate_ac19ca22ae10d8179cdc8dc68e02072d_1_0_2 completed with success=False +[05/26 02:38:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4270: 1 episodes +[05/26 02:38:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:38:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:38:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4270 +[05/26 02:38:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4270 in 3.64s (batch: 3.42s, save: 0.23s) +[05/26 02:38:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4270 +[05/26 02:38:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4270: 0/1 successful episodes +[05/26 02:38:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4295 (index 9/37) +[05/26 02:38:05 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4295 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 02:38:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +[2026-05-26 02:40:30,180] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:50:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 4295 episode 0 object objashackle_f04582e626ee4b09b5b870a2730d12b7_1_0_2 completed with success=False +[05/26 02:51:04 [1;37mWorker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +[2026-05-26 02:53:34,891] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:55:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:03:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 4295 episode 1 object objasecuritykeypad_e3e26581572f467d84958a12d6305aae_1_0_2 completed with success=False +[05/26 03:03:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4295: 2 episodes +[05/26 03:03:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:03:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:04:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:04:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:04:02 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4295 +[05/26 03:04:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4295 in 6.69s (batch: 6.47s, save: 0.22s) +[05/26 03:04:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4295 +[05/26 03:04:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4295: 0/2 successful episodes +[05/26 03:04:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4346 (index 10/37) +[05/26 03:04:02 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4346 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 03:04:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[05/26 03:04:17 Worker 0 WARNING object_manager.py:1238] Could not find object objasandal_c337b092178a4931a68336c3e6f49287_1_0_9 in scene +[05/26 03:04:17 Worker 0 WARNING object_manager.py:1238] Could not find object objatrackshoe_de9588f97f644bd689fc6502f262575d_1_0_9 in scene +[05/26 03:04:17 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_9 in scene +[2026-05-26 03:06:41,720] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:07:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:15:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 4346 episode 0 object objawoodenrod_93e71d2e393c4992a3bf47eb1fc7e3f7_1_0_4 completed with success=False +[05/26 03:15:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4346: 1 episodes +[05/26 03:15:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:15:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:15:12 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4346 +[05/26 03:15:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4346 in 3.69s (batch: 3.54s, save: 0.15s) +[05/26 03:15:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4346 +[05/26 03:15:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4346: 0/1 successful episodes +[05/26 03:15:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4374 (index 11/37) +[05/26 03:15:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4374 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 03:15:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/7 [00:00 does not support tracking retries. +[2026-05-26 03:16:59,501] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:17:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:21:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 4374 episode 0 object objacandywrapper_4a0fdf73d0474d778fd65ba220f50a71_2_0_2 completed with success=False +[05/26 03:21:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4374: 1 episodes +[05/26 03:21:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:21:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:21:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4374 +[05/26 03:21:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4374 in 3.82s (batch: 3.59s, save: 0.23s) +[05/26 03:21:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4374 +[05/26 03:21:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4374: 0/1 successful episodes +[05/26 03:21:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4411 (index 12/37) +[05/26 03:21:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4411 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 03:21:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[05/26 03:21:42 Worker 0 WARNING object_manager.py:1238] Could not find object objalemonsqueezer_5679cddc744c4f39b731890788405de6_1_0_6 in scene +[05/26 03:21:42 Worker 0 WARNING object_manager.py:1238] Could not find object knife_8409451f726b7f0640a91ddd7ae630cf_1_0_6 in scene +[2026-05-26 03:23:10,179] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:23:30 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:26:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 4411 episode 0 object objaluggagetag_8564a22483104f8aac76a02c12db952a_1_0_7 completed with success=False +[05/26 03:26:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4411: 1 episodes +[05/26 03:26:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:26:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:26:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4411 +[05/26 03:26:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4411 in 3.82s (batch: 3.56s, save: 0.25s) +[05/26 03:26:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4411 +[05/26 03:26:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4411: 0/1 successful episodes +[05/26 03:26:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4484 (index 13/37) +[05/26 03:26:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4484 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 03:26:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +[05/26 03:26:38 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingpanel_8bde878be8dd4fb7b6914db9c4dd31bb_1_0_4 in scene +[2026-05-26 03:28:47,937] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:30:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:40:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 4484 episode 0 object objawood_ae78ba7e73fc4c47a99f4cde24adc46f_1_0_2 completed with success=False +[05/26 03:40:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4484: 1 episodes +[05/26 03:40:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:40:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:40:15 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4484 +[05/26 03:40:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4484 in 3.58s (batch: 3.44s, save: 0.14s) +[05/26 03:40:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4484 +[05/26 03:40:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4484: 0/1 successful episodes +[05/26 03:40:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4540 (index 14/37) +[05/26 03:40:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4540 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 03:40:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[2026-05-26 03:42:30,005] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:46:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 4540 episode 0 object objaclaytablet_6f3cd26177eb4f679f06286bb6a2f304_2_0_5 completed with success=False +[05/26 03:46:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4540: 1 episodes +[05/26 03:46:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:46:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:46:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4540 +[05/26 03:46:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4540 in 2.54s (batch: 2.45s, save: 0.09s) +[05/26 03:46:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4540 +[05/26 03:46:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4540: 0/1 successful episodes +[05/26 03:46:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4584 (index 15/37) +[05/26 03:46:35 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4584 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 03:46:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +[05/26 03:46:55 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_f815ad52d37c217cefc0cafa7edbb112_1_0_5 in scene +[2026-05-26 03:48:50,268] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:50:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:54:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 4584 episode 0 object objavintagecontainer_1681199327f545f6bebc94b7408769ed_2_0_6 completed with success=False +[05/26 03:54:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4584: 1 episodes +[05/26 03:54:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:54:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:54:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4584 +[05/26 03:54:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4584 in 3.01s (batch: 2.88s, save: 0.13s) +[05/26 03:54:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4584 +[05/26 03:54:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4584: 0/1 successful episodes +[05/26 03:54:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4641 (index 16/37) +[05/26 03:54:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4641 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 03:54:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/56 [00:00 does not support tracking retries. +[05/26 03:55:15 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +[05/26 03:55:15 Worker 0 WARNING object_manager.py:1238] Could not find object objabrooch_d4aadade26e64be8a05670b0305c8d9f_1_0_7 in scene +[05/26 03:55:15 Worker 0 WARNING object_manager.py:1238] Could not find object alarmclock_7e1337b32a9e0d9439bef16e80df0de2_1_0_7 in scene +[2026-05-26 03:56:57,872] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:01:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 4641 episode 0 object objakylix_d9cc347595664f83bc1461c857756452_1_0_4 completed with success=False +[05/26 04:01:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4641: 1 episodes +[05/26 04:01:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:01:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:01:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4641 +[05/26 04:01:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4641 in 3.25s (batch: 3.07s, save: 0.18s) +[05/26 04:01:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4641 +[05/26 04:01:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4641: 0/1 successful episodes +[05/26 04:01:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4698 (index 17/37) +[05/26 04:01:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4698 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 04:01:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/9 [00:00 does not support tracking retries. +[2026-05-26 04:03:59,330] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:05:10 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:07:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 4698 episode 0 object objaeyewearframe_a4b712ccca9740d4970a09a54731d812_1_0_2 completed with success=False +[05/26 04:07:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4698: 1 episodes +[05/26 04:07:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:07:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:07:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4698 +[05/26 04:07:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4698 in 2.92s (batch: 2.78s, save: 0.14s) +[05/26 04:07:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4698 +[05/26 04:07:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4698: 0/1 successful episodes +[05/26 04:07:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4707 (index 18/37) +[05/26 04:07:15 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4707 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 04:07:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/8 [00:00 does not support tracking retries. +[2026-05-26 04:08:46,901] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:10:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:13:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 4707 episode 0 object objaseal_9d5e1792205e4d908035feb229b6d375_1_0_2 completed with success=False +[05/26 04:14:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/8 [00:00 does not support tracking retries. +[2026-05-26 04:16:38,832] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:17:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:21:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 4707 episode 1 object knife_8409451f726b7f0640a91ddd7ae630cf_1_0_2 completed with success=False +[05/26 04:21:46 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4707: 2 episodes +[05/26 04:21:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:21:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:21:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:21:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:21:52 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4707 +[05/26 04:21:52 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4707 in 5.43s (batch: 5.25s, save: 0.18s) +[05/26 04:21:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4707 +[05/26 04:21:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4707: 0/2 successful episodes +[05/26 04:21:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4738 (index 19/37) +[05/26 04:21:53 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4738 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 04:21:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/63 [00:00 does not support tracking retries. +[2026-05-26 04:23:20,239] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:24:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:28:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 4738 episode 0 object objaorigamicrane_1455ff78988c49d380161281102ee908_1_0_4 completed with success=False +[05/26 04:28:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4738: 1 episodes +[05/26 04:28:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:28:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:28:49 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4738 +[05/26 04:28:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4738 in 3.45s (batch: 3.35s, save: 0.10s) +[05/26 04:28:49 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4738 +[05/26 04:28:49 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4738: 0/1 successful episodes +[05/26 04:28:49 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4765 (index 20/37) +[05/26 04:28:49 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4765 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 04:28:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/9 [00:00 does not support tracking retries. +[05/26 04:28:53 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativehorn_041a7f79ab8e4a7993f29bda7177dc3c_1_0_2 in scene +[05/26 04:28:53 Worker 0 WARNING object_manager.py:1238] Could not find object Irishpotato_8a68fddf9d6f2cf4be39b3c60dc110ab_1_0_2 in scene +[2026-05-26 04:30:52,166] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:35:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 4765 episode 0 object objadecorativetape_a6bece29c668474c8a01a368941f0e9a_1_0_2 completed with success=False +[05/26 04:35:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4765: 1 episodes +[05/26 04:35:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:35:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:35:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4765 +[05/26 04:35:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4765 in 2.67s (batch: 2.57s, save: 0.09s) +[05/26 04:35:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4765 +[05/26 04:35:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4765: 0/1 successful episodes +[05/26 04:35:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4803 (index 21/37) +[05/26 04:35:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4803 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 04:35:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +[05/26 04:35:29 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_4 in scene +[05/26 04:35:29 Worker 0 WARNING object_manager.py:1238] Could not find object objacollar_5f329a75ab1a4890868ba37061ca3396_1_0_5 in scene +[05/26 04:35:29 Worker 0 WARNING object_manager.py:1238] Could not find object objacollar_eb320910987847f0b361c8c1936d9574_1_0_5 in scene +[05/26 04:35:29 Worker 0 WARNING object_manager.py:1238] Could not find object objaartpiece_92cadd9e10e64ea1a66f963803d79902_1_0_7 in scene +[05/26 04:35:29 Worker 0 WARNING object_manager.py:1238] Could not find object plate_677f844114df17e12c97d63ddf0f6037_1_0_7 in scene +[2026-05-26 04:36:33,120] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:39:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 4803 episode 0 object objadecorativeeye_9d390baaeec94960808345f88af56997_1_0_7 completed with success=False +[05/26 04:39:06 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4803: 1 episodes +[05/26 04:39:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:39:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:39:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4803 +[05/26 04:39:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4803 in 2.38s (batch: 2.28s, save: 0.09s) +[05/26 04:39:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4803 +[05/26 04:39:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4803: 0/1 successful episodes +[05/26 04:39:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4857 (index 22/37) +[05/26 04:39:09 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4857 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 04:39:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/26 [00:00 does not support tracking retries. +[2026-05-26 04:40:18,570] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:40:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:44:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 4857 episode 0 object objasteamiron_7dc6eeb22d424534b45783fbe997b302_1_0_6 completed with success=False +[05/26 04:44:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4857: 1 episodes +[05/26 04:44:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:44:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:44:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4857 +[05/26 04:44:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4857 in 3.81s (batch: 3.59s, save: 0.22s) +[05/26 04:44:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4857 +[05/26 04:44:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4857: 0/1 successful episodes +[05/26 04:44:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4916 (index 23/37) +[05/26 04:44:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4916 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 04:44:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/14 [00:00 does not support tracking retries. +[2026-05-26 04:46:20,234] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:46:48 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:52:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 4916 episode 0 object objadispenser_dae48a392c5a4f3aa00235e664ee7d4d_1_0_3 completed with success=False +[05/26 04:52:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4916: 1 episodes +[05/26 04:52:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:52:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:52:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4916 +[05/26 04:52:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4916 in 2.81s (batch: 2.69s, save: 0.12s) +[05/26 04:52:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4916 +[05/26 04:52:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4916: 0/1 successful episodes +[05/26 04:52:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4982 (index 24/37) +[05/26 04:52:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4982 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 04:52:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/59 [00:00 does not support tracking retries. +[2026-05-26 04:54:19,327] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:54:44 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:58:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 4982 episode 0 object objahandle_a168ec0564fb4a1e98caadee6866be28_1_0_8 completed with success=False +[05/26 04:58:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4982: 1 episodes +[05/26 04:58:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:58:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:58:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4982 +[05/26 04:58:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4982 in 3.74s (batch: 3.61s, save: 0.13s) +[05/26 04:58:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4982 +[05/26 04:58:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4982: 0/1 successful episodes +[05/26 04:58:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5004 (index 25/37) +[05/26 04:58:41 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 5004 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 04:58:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/32 [00:00 does not support tracking retries. +[05/26 04:58:54 Worker 0 WARNING object_manager.py:1238] Could not find object pencil_2c624e64d6f8a208a3a089ad77d16aa1_1_0_4 in scene +[2026-05-26 05:01:04,204] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:05:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 5004 episode 0 object objacollar_5f329a75ab1a4890868ba37061ca3396_1_0_3 completed with success=False +[05/26 05:05:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/32 [00:00 does not support tracking retries. +[05/26 05:06:02 Worker 0 WARNING object_manager.py:1238] Could not find object pencil_2c624e64d6f8a208a3a089ad77d16aa1_1_0_4 in scene +[2026-05-26 05:08:02,645] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:09:13 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:17:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 5004 episode 1 object objafish_a7e1f30e664a4db18ecea3c6ffb0a90c_1_0_2 completed with success=False +[05/26 05:18:04 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5004: 2 episodes +[05/26 05:18:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:18:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:18:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:18:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:18:11 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5004 +[05/26 05:18:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5004 in 6.76s (batch: 6.44s, save: 0.32s) +[05/26 05:18:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5004 +[05/26 05:18:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5004: 0/2 successful episodes +[05/26 05:18:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5020 (index 26/37) +[05/26 05:18:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5020 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 05:18:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[2026-05-26 05:20:19,740] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:21:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:25:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 5020 episode 0 object objashackle_d956a23797094d87aa85c1a139c15d68_1_0_2 completed with success=False +[05/26 05:25:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5020: 1 episodes +[05/26 05:25:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:25:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:25:20 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5020 +[05/26 05:25:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5020 in 3.65s (batch: 3.43s, save: 0.22s) +[05/26 05:25:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5020 +[05/26 05:25:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5020: 0/1 successful episodes +[05/26 05:25:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5115 (index 27/37) +[05/26 05:25:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5115 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 05:25:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/6 [00:00 does not support tracking retries. +[2026-05-26 05:28:04,898] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:29:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:32:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 5115 episode 0 object objaspraycan_e9c031fbf1bd451998676923027e296a_1_0_2 completed with success=False +[05/26 05:32:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5115: 1 episodes +[05/26 05:32:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:32:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:32:59 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5115 +[05/26 05:32:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5115 in 3.99s (batch: 3.84s, save: 0.15s) +[05/26 05:33:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5115 +[05/26 05:33:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5115: 0/1 successful episodes +[05/26 05:33:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5164 (index 28/37) +[05/26 05:33:00 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5164 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 05:33:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[2026-05-26 05:35:22,272] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:36:23 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:39:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 5164 episode 0 object objamokapot_eb0d9a02bb39465e95d82e84dd86a654_1_0_2 completed with success=False +[05/26 05:39:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5164: 1 episodes +[05/26 05:39:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:39:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:39:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5164 +[05/26 05:39:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5164 in 3.42s (batch: 3.22s, save: 0.20s) +[05/26 05:39:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5164 +[05/26 05:39:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5164: 0/1 successful episodes +[05/26 05:39:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5218 (index 29/37) +[05/26 05:39:35 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5218 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 05:39:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/12 [00:00 does not support tracking retries. +[2026-05-26 05:41:43,212] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:42:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:48:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 5218 episode 0 object objacandle_d6c8730447ce4ddfb6c5b72609216476_1_0_3 completed with success=False +[05/26 05:48:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5218: 1 episodes +[05/26 05:48:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:48:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:48:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5218 +[05/26 05:48:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5218 in 3.24s (batch: 3.08s, save: 0.15s) +[05/26 05:48:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5218 +[05/26 05:48:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5218: 0/1 successful episodes +[05/26 05:48:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5287 (index 30/37) +[05/26 05:48:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5287 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 05:48:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +[2026-05-26 05:50:28,165] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:55:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 5287 episode 0 object objabrush_f8f0d72e40d24bf8afa4b0157cbcb7c7_1_0_8 completed with success=False +[05/26 05:55:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5287: 1 episodes +[05/26 05:55:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:55:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:55:57 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5287 +[05/26 05:55:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5287 in 4.04s (batch: 3.73s, save: 0.30s) +[05/26 05:55:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5287 +[05/26 05:55:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5287: 0/1 successful episodes +[05/26 05:55:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5359 (index 31/37) +[05/26 05:55:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5359 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 05:55:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/60 [00:00 does not support tracking retries. +[05/26 05:56:09 Worker 0 WARNING object_manager.py:1238] Could not find object objamedicalmask_b52524319c70458db1c3a78f9c096afe_1_0_5 in scene +[05/26 05:56:09 Worker 0 WARNING object_manager.py:1238] Could not find object objamarbleslab_7d540d7b25af4e41a58eaeb5037f88a9_1_0_5 in scene +[2026-05-26 05:57:46,045] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:58:16 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:01:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 5359 episode 0 object objacorkscrew_63c8864e17844947b75f6cd32d8e5224_1_0_2 completed with success=False +[05/26 06:01:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5359: 1 episodes +[05/26 06:01:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:01:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:01:58 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5359 +[05/26 06:01:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5359 in 2.53s (batch: 2.44s, save: 0.10s) +[05/26 06:01:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5359 +[05/26 06:01:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5359: 0/1 successful episodes +[05/26 06:01:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5389 (index 32/37) +[05/26 06:01:58 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 5389 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 06:01:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/32 [00:00 does not support tracking retries. +[2026-05-26 06:03:26,948] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:07:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 5389 episode 0 object objaelectronicdisplay_39fdfa7c14a640b58a5ff5e47a1af37c_1_0_7 completed with success=False +[05/26 06:08:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/32 [00:00 does not support tracking retries. +[2026-05-26 06:10:40,518] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:12:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:15:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 5389 episode 1 object objaholographicprojector_137582d0c2774eaaad2400a9f9944df4_1_0_4 completed with success=False +[05/26 06:15:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5389: 2 episodes +[05/26 06:15:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:15:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:15:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:15:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:15:40 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5389 +[05/26 06:15:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5389 in 5.31s (batch: 5.13s, save: 0.18s) +[05/26 06:15:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5389 +[05/26 06:15:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5389: 0/2 successful episodes +[05/26 06:15:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5424 (index 33/37) +[05/26 06:15:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5424 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 06:15:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/27 [00:00 does not support tracking retries. +[2026-05-26 06:17:38,006] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:18:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:23:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 5424 episode 0 object objaseal_9d5e1792205e4d908035feb229b6d375_1_0_7 completed with success=False +[05/26 06:23:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5424: 1 episodes +[05/26 06:23:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:23:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:23:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5424 +[05/26 06:23:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5424 in 3.20s (batch: 2.99s, save: 0.21s) +[05/26 06:23:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5424 +[05/26 06:23:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5424: 0/1 successful episodes +[05/26 06:23:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5465 (index 34/37) +[05/26 06:23:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5465 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 06:23:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +[2026-05-26 06:25:18,416] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:28:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 5465 episode 0 object objabowtie_a3f9109d67fe429aa527428dcdac1c6e_1_0_6 completed with success=False +[05/26 06:28:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5465: 1 episodes +[05/26 06:28:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:28:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:28:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5465 +[05/26 06:28:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5465 in 2.70s (batch: 2.58s, save: 0.13s) +[05/26 06:28:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5465 +[05/26 06:28:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5465: 0/1 successful episodes +[05/26 06:28:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5491 (index 35/37) +[05/26 06:28:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5491 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 06:28:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +[2026-05-26 06:30:40,788] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:31:20 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:33:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 5491 episode 0 object objafoodcan_7f5083c31b074cc3a08bf2bd4ef16591_1_0_6 completed with success=False +[05/26 06:33:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5491: 1 episodes +[05/26 06:33:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:33:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:33:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5491 +[05/26 06:33:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5491 in 2.66s (batch: 2.54s, save: 0.12s) +[05/26 06:33:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5491 +[05/26 06:33:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5491: 0/1 successful episodes +[05/26 06:33:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5537 (index 36/37) +[05/26 06:33:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5537 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 06:33:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/34 [00:00 does not support tracking retries. +[05/26 06:34:00 Worker 0 WARNING object_manager.py:1238] Could not find object objareplicagrenade_35bb02f065604241a6119f7623978332_1_0_8 in scene +[05/26 06:34:00 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_a44357a2040f1b94a5a7e0de00e153b6_1_0_8 in scene +[2026-05-26 06:35:28,243] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:35:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:41:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 5537 episode 0 object objamagnet_203d2234abaf4e33851d2ab311015da7_1_0_4 completed with success=False +[05/26 06:41:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5537: 1 episodes +[05/26 06:41:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:41:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:41:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5537 +[05/26 06:41:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5537 in 3.70s (batch: 3.46s, save: 0.24s) +[05/26 06:41:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5537 +[05/26 06:41:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5537: 0/1 successful episodes +[05/26 06:41:57 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses +[05/26 06:41:58 INFO pipeline.py:1496] Completed 37 houses, skipped 0 houses +[05/26 06:41:58 INFO pipeline.py:1499] Success count: 0, Total count: 42 +[05/26 06:41:58 INFO pipeline.py:1500] Success rate: 0.00% +Combined 42 episodes from 37 files → /tmp/tmpvadbkst4.h5 + +Saved → /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/results.csv at-end: 0.0% | oracle: 0.0% of 42 episodes +[2026-05-26 06:42:05,948] INFO MolmoSpaces simulator eval finished: success=0/42 rate=0.0000 output=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval +[2026-05-26 06:42:05,949] INFO Benchmark CSV: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/results.csv + +Submission artifacts ready: + CSV : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/submission/results.csv + Bundle zip : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/submission_bundle.zip + Summary : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/submission/summary.json + Full eval output : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval + Repro command : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/run_command.sh diff --git a/pnp_v2/pnp_v2/shards/shard_00/run.log b/pnp_v2/pnp_v2/shards/shard_00/run.log new file mode 100644 index 0000000000000000000000000000000000000000..e192e21bd3a015f4554d7b34430c24f15168b0e4 --- /dev/null +++ b/pnp_v2/pnp_v2/shards/shard_00/run.log @@ -0,0 +1,1477 @@ +[2026-05-26 01:03:53,028] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath'] +[2026-05-26 01:03:53,101] INFO Selected MuJoCo backend: egl +[2026-05-26 01:03:53,119] INFO Using MolmoSpaces benchmark: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 (source=arg) +[2026-05-26 01:03:56,050] INFO No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +[nltk_data] Downloading package wordnet to /home/yuanpei/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /home/yuanpei/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +[2026-05-26 01:04:07,335] INFO ResourceManager (R2RemoteStorage('https://pub-3555e9bb2d304fab9c6c79819e48aa40.r2.dev')) using: + symlink_dir=/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets + cache_dir=/home/yuanpei/.cache/molmo-spaces-resources + force_install=True +/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py:129: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +[2026-05-26 01:04:32,495] INFO Requested MolmoSpaces simulator cameras: ['droid_shoulder_light_randomization', 'wrist_camera_zed_mini'] +[2026-05-26 01:04:32,499] INFO Using save_video_sensors=['__none__'] +[2026-05-26 01:04:37,293] INFO Resolved MolmoSpaces action semantics from checkpoint: source=pnp_next_to_v2 type=molmo_raw arm_action_key=joint_pos_rel gripper_action_key=joint_pos action_type=joint_pos_rel arm_command_mode=joint_rel_position +[2026-05-26 01:04:37,349] INFO Using explicit task_horizon override: 450 steps +[05/26 01:04:37 INFO pipeline.py:677] WandB logging disabled (environment variables not set) +[2026-05-26 01:04:37,427] INFO JsonEvalRunner initialized: 37 houses, 42 episodes from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 01:04:37 INFO pipeline.py:1279] Starting house-by-house rollout of 37 houses with 2 episodes each (74 total episodes) using 1 worker processes +[05/26 01:04:37 INFO pipeline.py:1286] Evaluation configuration: +[05/26 01:04:37 INFO pipeline.py:1287] {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['droid_shoulder_light_randomization', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 'wan_molmobot_franka', + 'obs_camera_name': 'droid_shoulder_light_randomization', + 'obs_image_key': 'rgb_head', + 'obs_state_key': 'robot_state', + 'obs_wrist_camera_name': 'wrist_camera_zed_mini', + 'obs_wrist_image_key': 'rgb_wrist', + 'policy_cls': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [3871, + 3898, + 3945, + 3990, + 4017, + 4068, + 4133, + 4205, + 4270, + 4295, + 4346, + 4374, + 4411, + 4484, + 4540, + 4584, + 4641, + 4698, + 4707, + 4738, + 4765, + 4803, + 4857, + 4916, + 4982, + 5004, + 5020, + 5115, + 5164, + 5218, + 5287, + 5359, + 5389, + 5424, + 5465, + 5491, + 5537], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} +[2026-05-26 01:04:37,456] INFO Saved experiment configuration to /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437 +[05/26 01:04:37 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler +[05/26 01:04:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/26 01:04:37 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler +[05/26 01:04:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3871 (index 0/37) +[05/26 01:04:37 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 3871 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 01:04:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes + Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +[05/26 01:04:59 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativecandle_0c791ace8deb4316bd377aa7fb553517_1_0_5 in scene +[05/26 01:04:59 Worker 0 WARNING object_manager.py:1238] Could not find object objacollar_5f329a75ab1a4890868ba37061ca3396_1_0_5 in scene +2026-05-26 01:06:03.158 | INFO | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0 +[2026-05-26 01:06:37,059] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k) +[2026-05-26 01:06:46,970] INFO [timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k] Safe alternative available for 'pytorch_model.bin' (as 'model.safetensors'). Loading weights using safetensors. +[2026-05-26 01:08:54,462] INFO Number of parameters in DiT: 1.821428e+07 +[2026-05-26 01:09:06,519] INFO Loaded generic psi-policy checkpoint | target=psi_policy.policy.psi_policy.PsiPolicy | obs_keys=['rgb_head', 'rgb_wrist', 'robot_state', 'text_context'] | action_horizon=16 | action_dim=8 +[2026-05-26 01:09:06,530] INFO Loaded MolmoSpaces policy | checkpoint=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt | target=psi_policy.policy.psi_policy.PsiPolicy | device=cuda:0 | action_chunk_size=8 +[05/26 01:13:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 3871 episode 0 object objadriedfish_00fbc8e52f834ba78b25ffb6962b98e8_1_0_8 completed with success=False +[05/26 01:14:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'proct[05/26 01:14:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objath Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +[05/26 01:31:51 Worker 0 WARNING object_manager.py:1238] Could not find object objapliers_de2e9e84e52844a0ab522e5e98202453_1_0_2 in scene +[05/26 01:31:51 Worker 0 WARNING object_manager.py:1238] Could not find object objabakedgood_454783f25d8c46ac87969c8f161b1a16_1_0_2 in scene +[2026-05-26 01:33:00,575] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/huggingface_hub/file_download.py:945: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`. + warnings.warn( +[05/26 01:33:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:38:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 3898 episode 0 object objascrew_477a7178be2b4f709bb4fe2d724f47cf_1_0_2 completed with success=False +[05/26 01:39:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3898: 1 episodes +[05/26 01:39:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:39:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:39:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_3898 +[05/26 01:39:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3898 in 3.27s (batch: 3.11s, save: 0.16s) +[05/26 01:39:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3898 +[05/26 01:39:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3898: 0/1 successful episodes +[05/26 01:39:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3945 (index 2/37) +[05/26 01:39:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3945 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 01:39:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +[2026-05-26 01:42:54,815] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 01:43:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:46:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 3945 episode 0 object objadecorativefixture_e14a2e218f6e4a588489e4b5508bff5e_1_0_3 completed with success=False +[05/26 01:46:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3945: 1 episodes +[05/26 01:46:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:46:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:46:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_3945 +[05/26 01:46:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3945 in 2.52s (batch: 2.43s, save: 0.09s) +[05/26 01:46:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3945 +[05/26 01:46:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3945: 0/1 successful episodes +[05/26 01:46:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3990 (index 3/37) +[05/26 01:46:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3990 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 01:46:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[05/26 01:53:24 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +[2026-05-26 01:54:26,314] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 01:54:44 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:57:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 3990 episode 0 object objaopticaldevice_03c6cfba0c13448faef5a7149bf7be86_1_0_4 completed with success=False +[05/26 01:57:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3990: 1 episodes +[05/26 01:57:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:57:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:57:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_3990 +[05/26 01:57:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3990 in 3.29s (batch: 3.10s, save: 0.20s) +[05/26 01:57:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3990 +[05/26 01:57:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3990: 0/1 successful episodes +[05/26 01:57:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4017 (index 4/37) +[05/26 01:57:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4017 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 01:57:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +[2026-05-26 02:00:24,132] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:01:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:06:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 4017 episode 0 object objadecorativefoodmodel_9c9d11d317814c2085da004146c4917c_1_0_8 completed with success=False +[05/26 02:06:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4017: 1 episodes +[05/26 02:06:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:06:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:06:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4017 +[05/26 02:06:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4017 in 3.39s (batch: 3.25s, save: 0.14s) +[05/26 02:06:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4017 +[05/26 02:06:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4017: 0/1 successful episodes +[05/26 02:06:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4068 (index 5/37) +[05/26 02:06:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4068 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 02:06:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[2026-05-26 02:08:55,106] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:10:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:16:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 4068 episode 0 object objatelephonehandset_0ddfdf35baa6475d9ba001a570eaeebd_1_0_7 completed with success=False +[05/26 02:16:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4068: 1 episodes +[05/26 02:16:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:16:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:16:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4068 +[05/26 02:16:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4068 in 2.90s (batch: 2.78s, save: 0.12s) +[05/26 02:16:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4068 +[05/26 02:16:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4068: 0/1 successful episodes +[05/26 02:16:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4133 (index 6/37) +[05/26 02:16:35 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4133 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 02:16:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/60 [00:00 does not support tracking retries. +[2026-05-26 02:18:30,741] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:23:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 4133 episode 0 object objagreetingcard_5c7029b2edd248cdafcfd33c93ff1728_1_0_7 completed with success=False +[05/26 02:23:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4133: 1 episodes +[05/26 02:23:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:23:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:23:41 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4133 +[05/26 02:23:41 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4133 in 3.72s (batch: 3.52s, save: 0.20s) +[05/26 02:23:42 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4133 +[05/26 02:23:42 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4133: 0/1 successful episodes +[05/26 02:23:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4205 (index 7/37) +[05/26 02:23:42 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4205 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 02:23:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[2026-05-26 02:26:05,285] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:27:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:31:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 4205 episode 0 object objateacup_ccc2c0af285d479b8c5961d3c678aefc_1_0_7 completed with success=False +[05/26 02:31:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4205: 1 episodes +[05/26 02:31:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:31:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:31:26 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4205 +[05/26 02:31:26 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4205 in 3.00s (batch: 2.85s, save: 0.15s) +[05/26 02:31:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4205 +[05/26 02:31:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4205: 0/1 successful episodes +[05/26 02:31:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4270 (index 8/37) +[05/26 02:31:27 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4270 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 02:31:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +[2026-05-26 02:32:55,064] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:33:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:37:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 4270 episode 0 object plate_ac19ca22ae10d8179cdc8dc68e02072d_1_0_2 completed with success=False +[05/26 02:38:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4270: 1 episodes +[05/26 02:38:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:38:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:38:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4270 +[05/26 02:38:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4270 in 3.64s (batch: 3.42s, save: 0.23s) +[05/26 02:38:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4270 +[05/26 02:38:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4270: 0/1 successful episodes +[05/26 02:38:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4295 (index 9/37) +[05/26 02:38:05 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4295 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 02:38:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +[2026-05-26 02:40:30,180] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:50:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 4295 episode 0 object objashackle_f04582e626ee4b09b5b870a2730d12b7_1_0_2 completed with success=False +[05/26 02:51:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +[2026-05-26 02:53:34,891] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:55:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:03:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 4295 episode 1 object objasecuritykeypad_e3e26581572f467d84958a12d6305aae_1_0_2 completed with success=False +[05/26 03:03:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4295: 2 episodes +[05/26 03:03:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:03:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:04:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:04:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:04:02 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4295 +[05/26 03:04:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4295 in 6.69s (batch: 6.47s, save: 0.22s) +[05/26 03:04:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4295 +[05/26 03:04:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4295: 0/2 successful episodes +[05/26 03:04:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4346 (index 10/37) +[05/26 03:04:02 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4346 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 03:04:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[05/26 03:04:17 Worker 0 WARNING object_manager.py:1238] Could not find object objasandal_c337b092178a4931a68336c3e6f49287_1_0_9 in scene +[05/26 03:04:17 Worker 0 WARNING object_manager.py:1238] Could not find object objatrackshoe_de9588f97f644bd689fc6502f262575d_1_0_9 in scene +[05/26 03:04:17 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_9 in scene +[2026-05-26 03:06:41,720] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:07:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:15:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 4346 episode 0 object objawoodenrod_93e71d2e393c4992a3bf47eb1fc7e3f7_1_0_4 completed with success=False +[05/26 03:15:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4346: 1 episodes +[05/26 03:15:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:15:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:15:12 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4346 +[05/26 03:15:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4346 in 3.69s (batch: 3.54s, save: 0.15s) +[05/26 03:15:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4346 +[05/26 03:15:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4346: 0/1 successful episodes +[05/26 03:15:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4374 (index 11/37) +[05/26 03:15:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4374 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 03:15:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/7 [00:00 does not support tracking retries. +[2026-05-26 03:16:59,501] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:17:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:21:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 4374 episode 0 object objacandywrapper_4a0fdf73d0474d778fd65ba220f50a71_2_0_2 completed with success=False +[05/26 03:21:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4374: 1 episodes +[05/26 03:21:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:21:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:21:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4374 +[05/26 03:21:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4374 in 3.82s (batch: 3.59s, save: 0.23s) +[05/26 03:21:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4374 +[05/26 03:21:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4374: 0/1 successful episodes +[05/26 03:21:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4411 (index 12/37) +[05/26 03:21:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4411 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 03:21:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[05/26 03:21:42 Worker 0 WARNING object_manager.py:1238] Could not find object objalemonsqueezer_5679cddc744c4f39b731890788405de6_1_0_6 in scene +[05/26 03:21:42 Worker 0 WARNING object_manager.py:1238] Could not find object knife_8409451f726b7f0640a91ddd7ae630cf_1_0_6 in scene +[2026-05-26 03:23:10,179] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:23:30 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:26:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 4411 episode 0 object objaluggagetag_8564a22483104f8aac76a02c12db952a_1_0_7 completed with success=False +[05/26 03:26:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4411: 1 episodes +[05/26 03:26:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:26:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:26:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4411 +[05/26 03:26:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4411 in 3.82s (batch: 3.56s, save: 0.25s) +[05/26 03:26:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4411 +[05/26 03:26:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4411: 0/1 successful episodes +[05/26 03:26:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4484 (index 13/37) +[05/26 03:26:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4484 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 03:26:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +[05/26 03:26:38 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingpanel_8bde878be8dd4fb7b6914db9c4dd31bb_1_0_4 in scene +[2026-05-26 03:28:47,937] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:30:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:40:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 4484 episode 0 object objawood_ae78ba7e73fc4c47a99f4cde24adc46f_1_0_2 completed with success=False +[05/26 03:40:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4484: 1 episodes +[05/26 03:40:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:40:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:40:15 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4484 +[05/26 03:40:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4484 in 3.58s (batch: 3.44s, save: 0.14s) +[05/26 03:40:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4484 +[05/26 03:40:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4484: 0/1 successful episodes +[05/26 03:40:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4540 (index 14/37) +[05/26 03:40:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4540 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 03:40:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[2026-05-26 03:42:30,005] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:46:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 4540 episode 0 object objaclaytablet_6f3cd26177eb4f679f06286bb6a2f304_2_0_5 completed with success=False +[05/26 03:46:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4540: 1 episodes +[05/26 03:46:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:46:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:46:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4540 +[05/26 03:46:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4540 in 2.54s (batch: 2.45s, save: 0.09s) +[05/26 03:46:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4540 +[05/26 03:46:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4540: 0/1 successful episodes +[05/26 03:46:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4584 (index 15/37) +[05/26 03:46:35 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4584 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 03:46:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +[05/26 03:46:55 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_f815ad52d37c217cefc0cafa7edbb112_1_0_5 in scene +[2026-05-26 03:48:50,268] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:50:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:54:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 4584 episode 0 object objavintagecontainer_1681199327f545f6bebc94b7408769ed_2_0_6 completed with success=False +[05/26 03:54:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4584: 1 episodes +[05/26 03:54:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:54:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:54:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4584 +[05/26 03:54:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4584 in 3.01s (batch: 2.88s, save: 0.13s) +[05/26 03:54:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4584 +[05/26 03:54:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4584: 0/1 successful episodes +[05/26 03:54:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4641 (index 16/37) +[05/26 03:54:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4641 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 03:54:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/56 [00:00 does not support tracking retries. +[05/26 03:55:15 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +[05/26 03:55:15 Worker 0 WARNING object_manager.py:1238] Could not find object objabrooch_d4aadade26e64be8a05670b0305c8d9f_1_0_7 in scene +[05/26 03:55:15 Worker 0 WARNING object_manager.py:1238] Could not find object alarmclock_7e1337b32a9e0d9439bef16e80df0de2_1_0_7 in scene +[2026-05-26 03:56:57,872] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:01:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 4641 episode 0 object objakylix_d9cc347595664f83bc1461c857756452_1_0_4 completed with success=False +[05/26 04:01:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4641: 1 episodes +[05/26 04:01:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:01:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:01:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4641 +[05/26 04:01:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4641 in 3.25s (batch: 3.07s, save: 0.18s) +[05/26 04:01:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4641 +[05/26 04:01:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4641: 0/1 successful episodes +[05/26 04:01:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4698 (index 17/37) +[05/26 04:01:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4698 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 04:01:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/9 [00:00 does not support tracking retries. +[2026-05-26 04:03:59,330] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:05:10 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:07:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 4698 episode 0 object objaeyewearframe_a4b712ccca9740d4970a09a54731d812_1_0_2 completed with success=False +[05/26 04:07:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4698: 1 episodes +[05/26 04:07:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:07:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:07:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4698 +[05/26 04:07:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4698 in 2.92s (batch: 2.78s, save: 0.14s) +[05/26 04:07:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4698 +[05/26 04:07:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4698: 0/1 successful episodes +[05/26 04:07:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4707 (index 18/37) +[05/26 04:07:15 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4707 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 04:07:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/8 [00:00 does not support tracking retries. +[2026-05-26 04:08:46,901] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:10:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:13:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 4707 episode 0 object objaseal_9d5e1792205e4d908035feb229b6d375_1_0_2 completed with success=False +[05/26 04:14:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/8 [00:00 does not support tracking retries. +[2026-05-26 04:16:38,832] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:17:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:21:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 4707 episode 1 object knife_8409451f726b7f0640a91ddd7ae630cf_1_0_2 completed with success=False +[05/26 04:21:46 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4707: 2 episodes +[05/26 04:21:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:21:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:21:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:21:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:21:52 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4707 +[05/26 04:21:52 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4707 in 5.43s (batch: 5.25s, save: 0.18s) +[05/26 04:21:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4707 +[05/26 04:21:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4707: 0/2 successful episodes +[05/26 04:21:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4738 (index 19/37) +[05/26 04:21:53 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4738 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 04:21:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/63 [00:00 does not support tracking retries. +[2026-05-26 04:23:20,239] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:24:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:28:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 4738 episode 0 object objaorigamicrane_1455ff78988c49d380161281102ee908_1_0_4 completed with success=False +[05/26 04:28:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4738: 1 episodes +[05/26 04:28:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:28:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:28:49 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4738 +[05/26 04:28:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4738 in 3.45s (batch: 3.35s, save: 0.10s) +[05/26 04:28:49 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4738 +[05/26 04:28:49 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4738: 0/1 successful episodes +[05/26 04:28:49 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4765 (index 20/37) +[05/26 04:28:49 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4765 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 04:28:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/9 [00:00 does not support tracking retries. +[05/26 04:28:53 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativehorn_041a7f79ab8e4a7993f29bda7177dc3c_1_0_2 in scene +[05/26 04:28:53 Worker 0 WARNING object_manager.py:1238] Could not find object Irishpotato_8a68fddf9d6f2cf4be39b3c60dc110ab_1_0_2 in scene +[2026-05-26 04:30:52,166] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:35:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 4765 episode 0 object objadecorativetape_a6bece29c668474c8a01a368941f0e9a_1_0_2 completed with success=False +[05/26 04:35:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4765: 1 episodes +[05/26 04:35:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:35:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:35:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4765 +[05/26 04:35:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4765 in 2.67s (batch: 2.57s, save: 0.09s) +[05/26 04:35:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4765 +[05/26 04:35:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4765: 0/1 successful episodes +[05/26 04:35:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4803 (index 21/37) +[05/26 04:35:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4803 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 04:35:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +[05/26 04:35:29 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_4 in scene +[05/26 04:35:29 Worker 0 WARNING object_manager.py:1238] Could not find object objacollar_5f329a75ab1a4890868ba37061ca3396_1_0_5 in scene +[05/26 04:35:29 Worker 0 WARNING object_manager.py:1238] Could not find object objacollar_eb320910987847f0b361c8c1936d9574_1_0_5 in scene +[05/26 04:35:29 Worker 0 WARNING object_manager.py:1238] Could not find object objaartpiece_92cadd9e10e64ea1a66f963803d79902_1_0_7 in scene +[05/26 04:35:29 Worker 0 WARNING object_manager.py:1238] Could not find object plate_677f844114df17e12c97d63ddf0f6037_1_0_7 in scene +[2026-05-26 04:36:33,120] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:39:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 4803 episode 0 object objadecorativeeye_9d390baaeec94960808345f88af56997_1_0_7 completed with success=False +[05/26 04:39:06 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4803: 1 episodes +[05/26 04:39:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:39:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:39:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4803 +[05/26 04:39:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4803 in 2.38s (batch: 2.28s, save: 0.09s) +[05/26 04:39:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4803 +[05/26 04:39:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4803: 0/1 successful episodes +[05/26 04:39:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4857 (index 22/37) +[05/26 04:39:09 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4857 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 04:39:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/26 [00:00 does not support tracking retries. +[2026-05-26 04:40:18,570] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:40:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:44:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 4857 episode 0 object objasteamiron_7dc6eeb22d424534b45783fbe997b302_1_0_6 completed with success=False +[05/26 04:44:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4857: 1 episodes +[05/26 04:44:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:44:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:44:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4857 +[05/26 04:44:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4857 in 3.81s (batch: 3.59s, save: 0.22s) +[05/26 04:44:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4857 +[05/26 04:44:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4857: 0/1 successful episodes +[05/26 04:44:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4916 (index 23/37) +[05/26 04:44:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4916 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 04:44:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/14 [00:00 does not support tracking retries. +[2026-05-26 04:46:20,234] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:46:48 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:52:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 4916 episode 0 object objadispenser_dae48a392c5a4f3aa00235e664ee7d4d_1_0_3 completed with success=False +[05/26 04:52:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4916: 1 episodes +[05/26 04:52:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:52:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:52:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4916 +[05/26 04:52:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4916 in 2.81s (batch: 2.69s, save: 0.12s) +[05/26 04:52:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4916 +[05/26 04:52:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4916: 0/1 successful episodes +[05/26 04:52:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4982 (index 24/37) +[05/26 04:52:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4982 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 04:52:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/59 [00:00 does not support tracking retries. +[2026-05-26 04:54:19,327] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:54:44 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:58:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 4982 episode 0 object objahandle_a168ec0564fb4a1e98caadee6866be28_1_0_8 completed with success=False +[05/26 04:58:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4982: 1 episodes +[05/26 04:58:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:58:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:58:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4982 +[05/26 04:58:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4982 in 3.74s (batch: 3.61s, save: 0.13s) +[05/26 04:58:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4982 +[05/26 04:58:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4982: 0/1 successful episodes +[05/26 04:58:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5004 (index 25/37) +[05/26 04:58:41 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 5004 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 04:58:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/32 [00:00 does not support tracking retries. +[05/26 04:58:54 Worker 0 WARNING object_manager.py:1238] Could not find object pencil_2c624e64d6f8a208a3a089ad77d16aa1_1_0_4 in scene +[2026-05-26 05:01:04,204] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:05:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 5004 episode 0 object objacollar_5f329a75ab1a4890868ba37061ca3396_1_0_3 completed with success=False +[05/26 05:05:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/32 [00:00 does not support tracking retries. +[05/26 05:06:02 Worker 0 WARNING object_manager.py:1238] Could not find object pencil_2c624e64d6f8a208a3a089ad77d16aa1_1_0_4 in scene +[2026-05-26 05:08:02,645] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:09:13 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:17:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 5004 episode 1 object objafish_a7e1f30e664a4db18ecea3c6ffb0a90c_1_0_2 completed with success=False +[05/26 05:18:04 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5004: 2 episodes +[05/26 05:18:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:18:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:18:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:18:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:18:11 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5004 +[05/26 05:18:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5004 in 6.76s (batch: 6.44s, save: 0.32s) +[05/26 05:18:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5004 +[05/26 05:18:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5004: 0/2 successful episodes +[05/26 05:18:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5020 (index 26/37) +[05/26 05:18:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5020 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 05:18:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[2026-05-26 05:20:19,740] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:21:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:25:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 5020 episode 0 object objashackle_d956a23797094d87aa85c1a139c15d68_1_0_2 completed with success=False +[05/26 05:25:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5020: 1 episodes +[05/26 05:25:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:25:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:25:20 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5020 +[05/26 05:25:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5020 in 3.65s (batch: 3.43s, save: 0.22s) +[05/26 05:25:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5020 +[05/26 05:25:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5020: 0/1 successful episodes +[05/26 05:25:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5115 (index 27/37) +[05/26 05:25:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5115 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 05:25:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/6 [00:00 does not support tracking retries. +[2026-05-26 05:28:04,898] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:29:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:32:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 5115 episode 0 object objaspraycan_e9c031fbf1bd451998676923027e296a_1_0_2 completed with success=False +[05/26 05:32:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5115: 1 episodes +[05/26 05:32:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:32:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:32:59 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5115 +[05/26 05:32:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5115 in 3.99s (batch: 3.84s, save: 0.15s) +[05/26 05:33:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5115 +[05/26 05:33:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5115: 0/1 successful episodes +[05/26 05:33:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5164 (index 28/37) +[05/26 05:33:00 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5164 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 05:33:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[2026-05-26 05:35:22,272] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:36:23 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:39:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 5164 episode 0 object objamokapot_eb0d9a02bb39465e95d82e84dd86a654_1_0_2 completed with success=False +[05/26 05:39:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5164: 1 episodes +[05/26 05:39:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:39:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:39:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5164 +[05/26 05:39:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5164 in 3.42s (batch: 3.22s, save: 0.20s) +[05/26 05:39:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5164 +[05/26 05:39:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5164: 0/1 successful episodes +[05/26 05:39:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5218 (index 29/37) +[05/26 05:39:35 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5218 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 05:39:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/12 [00:00 does not support tracking retries. +[2026-05-26 05:41:43,212] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:42:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:48:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 5218 episode 0 object objacandle_d6c8730447ce4ddfb6c5b72609216476_1_0_3 completed with success=False +[05/26 05:48:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5218: 1 episodes +[05/26 05:48:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:48:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:48:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5218 +[05/26 05:48:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5218 in 3.24s (batch: 3.08s, save: 0.15s) +[05/26 05:48:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5218 +[05/26 05:48:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5218: 0/1 successful episodes +[05/26 05:48:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5287 (index 30/37) +[05/26 05:48:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5287 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 05:48:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +[2026-05-26 05:50:28,165] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:55:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 5287 episode 0 object objabrush_f8f0d72e40d24bf8afa4b0157cbcb7c7_1_0_8 completed with success=False +[05/26 05:55:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5287: 1 episodes +[05/26 05:55:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:55:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:55:57 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5287 +[05/26 05:55:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5287 in 4.04s (batch: 3.73s, save: 0.30s) +[05/26 05:55:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5287 +[05/26 05:55:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5287: 0/1 successful episodes +[05/26 05:55:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5359 (index 31/37) +[05/26 05:55:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5359 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 05:55:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/60 [00:00 does not support tracking retries. +[05/26 05:56:09 Worker 0 WARNING object_manager.py:1238] Could not find object objamedicalmask_b52524319c70458db1c3a78f9c096afe_1_0_5 in scene +[05/26 05:56:09 Worker 0 WARNING object_manager.py:1238] Could not find object objamarbleslab_7d540d7b25af4e41a58eaeb5037f88a9_1_0_5 in scene +[2026-05-26 05:57:46,045] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:58:16 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:01:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 5359 episode 0 object objacorkscrew_63c8864e17844947b75f6cd32d8e5224_1_0_2 completed with success=False +[05/26 06:01:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5359: 1 episodes +[05/26 06:01:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:01:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:01:58 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5359 +[05/26 06:01:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5359 in 2.53s (batch: 2.44s, save: 0.10s) +[05/26 06:01:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5359 +[05/26 06:01:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5359: 0/1 successful episodes +[05/26 06:01:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5389 (index 32/37) +[05/26 06:01:58 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 5389 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 06:01:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/32 [00:00 does not support tracking retries. +[2026-05-26 06:03:26,948] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:07:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 5389 episode 0 object objaelectronicdisplay_39fdfa7c14a640b58a5ff5e47a1af37c_1_0_7 completed with success=False +[05/26 06:08:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/32 [00:00 does not support tracking retries. +[2026-05-26 06:10:40,518] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:12:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:15:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 5389 episode 1 object objaholographicprojector_137582d0c2774eaaad2400a9f9944df4_1_0_4 completed with success=False +[05/26 06:15:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5389: 2 episodes +[05/26 06:15:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:15:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:15:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:15:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:15:40 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5389 +[05/26 06:15:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5389 in 5.31s (batch: 5.13s, save: 0.18s) +[05/26 06:15:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5389 +[05/26 06:15:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5389: 0/2 successful episodes +[05/26 06:15:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5424 (index 33/37) +[05/26 06:15:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5424 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 06:15:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/27 [00:00 does not support tracking retries. +[2026-05-26 06:17:38,006] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:18:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:23:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 5424 episode 0 object objaseal_9d5e1792205e4d908035feb229b6d375_1_0_7 completed with success=False +[05/26 06:23:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5424: 1 episodes +[05/26 06:23:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:23:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:23:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5424 +[05/26 06:23:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5424 in 3.20s (batch: 2.99s, save: 0.21s) +[05/26 06:23:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5424 +[05/26 06:23:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5424: 0/1 successful episodes +[05/26 06:23:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5465 (index 34/37) +[05/26 06:23:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5465 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 06:23:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +[2026-05-26 06:25:18,416] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:28:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 5465 episode 0 object objabowtie_a3f9109d67fe429aa527428dcdac1c6e_1_0_6 completed with success=False +[05/26 06:28:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5465: 1 episodes +[05/26 06:28:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:28:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:28:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5465 +[05/26 06:28:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5465 in 2.70s (batch: 2.58s, save: 0.13s) +[05/26 06:28:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5465 +[05/26 06:28:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5465: 0/1 successful episodes +[05/26 06:28:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5491 (index 35/37) +[05/26 06:28:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5491 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 06:28:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +[2026-05-26 06:30:40,788] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:31:20 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:33:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 5491 episode 0 object objafoodcan_7f5083c31b074cc3a08bf2bd4ef16591_1_0_6 completed with success=False +[05/26 06:33:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5491: 1 episodes +[05/26 06:33:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:33:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:33:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5491 +[05/26 06:33:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5491 in 2.66s (batch: 2.54s, save: 0.12s) +[05/26 06:33:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5491 +[05/26 06:33:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5491: 0/1 successful episodes +[05/26 06:33:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5537 (index 36/37) +[05/26 06:33:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5537 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 06:33:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/34 [00:00 does not support tracking retries. +[05/26 06:34:00 Worker 0 WARNING object_manager.py:1238] Could not find object objareplicagrenade_35bb02f065604241a6119f7623978332_1_0_8 in scene +[05/26 06:34:00 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_a44357a2040f1b94a5a7e0de00e153b6_1_0_8 in scene +[2026-05-26 06:35:28,243] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:35:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:41:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 5537 episode 0 object objamagnet_203d2234abaf4e33851d2ab311015da7_1_0_4 completed with success=False +[05/26 06:41:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5537: 1 episodes +[05/26 06:41:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:41:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:41:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5537 +[05/26 06:41:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5537 in 3.70s (batch: 3.46s, save: 0.24s) +[05/26 06:41:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5537 +[05/26 06:41:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5537: 0/1 successful episodes +[05/26 06:41:57 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses +[05/26 06:41:58 INFO pipeline.py:1496] Completed 37 houses, skipped 0 houses +[05/26 06:41:58 INFO pipeline.py:1499] Success count: 0, Total count: 42 +[05/26 06:41:58 INFO pipeline.py:1500] Success rate: 0.00% +Combined 42 episodes from 37 files → /tmp/tmpvadbkst4.h5 + +Saved → /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/results.csv at-end: 0.0% | oracle: 0.0% of 42 episodes +[2026-05-26 06:42:05,948] INFO MolmoSpaces simulator eval finished: success=0/42 rate=0.0000 output=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval +[2026-05-26 06:42:05,949] INFO Benchmark CSV: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/results.csv diff --git a/pnp_v2/pnp_v2/shards/shard_00/run_command.sh b/pnp_v2/pnp_v2/shards/shard_00/run_command.sh new file mode 100644 index 0000000000000000000000000000000000000000..c5659c3a3458656e3cd8c02317db41c99e6614de --- /dev/null +++ b/pnp_v2/pnp_v2/shards/shard_00/run_command.sh @@ -0,0 +1,4 @@ +#!/usr/bin/env bash +set -euo pipefail +cd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy +conda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament diff --git a/pnp_v2/pnp_v2/shards/shard_01.launcher.log b/pnp_v2/pnp_v2/shards/shard_01.launcher.log new file mode 100644 index 0000000000000000000000000000000000000000..005227a342e39b17746d0101591d7d3d171e9315 --- /dev/null +++ b/pnp_v2/pnp_v2/shards/shard_01.launcher.log @@ -0,0 +1,1516 @@ +================================================================================ +Official MolmoSpaces Submission Run +================================================================================ +Checkpoint : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt +Benchmark dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +Output root : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01 +Eval output dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval +Submission dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/submission +Conda env : molmospace +Policy name : latest +Policy device : cuda:0 +Text embedding device : cpu +Prompt cache dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan +Workers : 1 +Task horizon steps : 450 +Action chunk size : 8 +Obs camera : droid_shoulder_light_randomization +Obs wrist camera : wrist_camera_zed_mini +Camera names : droid_shoulder_light_randomization wrist_camera_zed_mini +Preview camera names : droid_shoulder_light_randomization +End on success : 1 +Visualization : 0 +Save raw videos : 0 +Save video sensors : __none__ +Success condition (CSV) : both + +Official runner : molmo_spaces.evaluation.run_evaluation() +CSV exporter : molmospaces/scripts/benchmarks/eval_to_csv.py + +Command +conda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament +================================================================================ +[2026-05-26 01:03:53,068] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath'] +[2026-05-26 01:03:53,136] INFO Selected MuJoCo backend: egl +[2026-05-26 01:03:53,155] INFO Using MolmoSpaces benchmark: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 (source=arg) +[2026-05-26 01:03:56,002] INFO No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +[nltk_data] Downloading package wordnet to /home/yuanpei/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /home/yuanpei/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +[2026-05-26 01:04:10,235] INFO ResourceManager (R2RemoteStorage('https://pub-3555e9bb2d304fab9c6c79819e48aa40.r2.dev')) using: + symlink_dir=/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets + cache_dir=/home/yuanpei/.cache/molmo-spaces-resources + force_install=True +/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py:129: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +[2026-05-26 01:04:38,695] INFO Requested MolmoSpaces simulator cameras: ['droid_shoulder_light_randomization', 'wrist_camera_zed_mini'] +[2026-05-26 01:04:38,703] INFO Using save_video_sensors=['__none__'] +[2026-05-26 01:04:42,217] INFO Resolved MolmoSpaces action semantics from checkpoint: source=pnp_next_to_v2 type=molmo_raw arm_action_key=joint_pos_rel gripper_action_key=joint_pos action_type=joint_pos_rel arm_command_mode=joint_rel_position +[2026-05-26 01:04:42,379] INFO Using explicit task_horizon override: 450 steps +[05/26 01:04:42 INFO pipeline.py:677] WandB logging disabled (environment variables not set) +[2026-05-26 01:04:42,493] INFO JsonEvalRunner initialized: 36 houses, 41 episodes from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 01:04:42 INFO pipeline.py:1279] Starting house-by-house rollout of 36 houses with 2 episodes each (72 total episodes) using 1 worker processes +[05/26 01:04:42 INFO pipeline.py:1286] Evaluation configuration: +[05/26 01:04:42 INFO pipeline.py:1287] {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['droid_shoulder_light_randomization', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 'wan_molmobot_franka', + 'obs_camera_name': 'droid_shoulder_light_randomization', + 'obs_image_key': 'rgb_head', + 'obs_state_key': 'robot_state', + 'obs_wrist_camera_name': 'wrist_camera_zed_mini', + 'obs_wrist_image_key': 'rgb_wrist', + 'policy_cls': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [3934, + 3947, + 3991, + 4021, + 4079, + 4144, + 4213, + 4289, + 4303, + 4347, + 4382, + 4423, + 4493, + 4545, + 4600, + 4644, + 4702, + 4727, + 4742, + 4773, + 4807, + 4860, + 4933, + 4983, + 5023, + 5048, + 5116, + 5165, + 5219, + 5291, + 5361, + 5390, + 5428, + 5473, + 5495, + 5540], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} +[2026-05-26 01:04:42,504] INFO Saved experiment configuration to /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442 +[05/26 01:04:42 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler +[05/26 01:04:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/26 01:04:42 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler +[05/26 01:04:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3934 (index 0/36) +[05/26 01:04:42 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 3934 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 01:04:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +[05/26 01:05:19 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingventcover_c56ee3f7d606481bb4aaedc4250b097e_1_0_5 in scene +[05/26 01:05:19 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingventcover_c56ee3f7d606481bb4aaedc4250b097e_2_0_5 in scene +[05/26 01:05:19 Worker 0 WARNING object_manager.py:1238] Could not find object statue_c1ca41050692ad4a2d2e80d2a1b1ad5f_1_0_8 in scene +2026-05-26 01:06:22.046 | INFO | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0 +[2026-05-26 01:06:56,854] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k) +[2026-05-26 01:06:59,744] INFO [timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k] Safe alternative available for 'pytorch_model.bin' (as 'model.safetensors'). Loading weights using safetensors. +[2026-05-26 01:09:03,079] INFO Number of parameters in DiT: 1.821428e+07 +[2026-05-26 01:09:06,702] INFO Loaded generic psi-policy checkpoint | target=psi_policy.policy.psi_policy.PsiPolicy | obs_keys=['rgb_head', 'rgb_wrist', 'robot_state', 'text_context'] | action_horizon=16 | action_dim=8 +[2026-05-26 01:09:06,706] INFO Loaded MolmoSpaces policy | checkpoint=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt | target=psi_policy.policy.psi_policy.PsiPolicy | device=cuda:0 | action_chunk_size=8 +[05/26 01:09:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:14:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 3934 episode 0 object objacanopener_59a4d5ccb6cb449ab0b2c6ab2be80d2e_1_0_6 completed with success=False +[05/26 01:14:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +[05/26 01:16:26 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingventcover_c56ee3f7d606481bb4aaedc4250b097e_1_0_5 in scene +[05/26 01:16:26 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingventcover_c56ee3f7d606481bb4aaedc4250b097e_2_0_5 in scene +[05/26 01:16:26 Worker 0 WARNING object_manager.py:1238] Could not find object statue_c1ca41050692ad4a2d2e80d2a1b1ad5f_1_0_8 in scene +[05/26 01:20:49 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:25:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 3934 episode 1 object objacanopener_8237129bfae244d7a62d706937f9f106_1_0_6 completed with success=False +[05/26 01:25:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3934: 2 episodes +[05/26 01:25:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:25:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:25:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:25:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:25:17 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_3934 +[05/26 01:25:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3934 in 4.34s (batch: 4.14s, save: 0.20s) +[05/26 01:25:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3934 +[05/26 01:25:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3934: 0/2 successful episodes +[05/26 01:25:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3947 (index 1/36) +[05/26 01:25:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3947 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 01:25:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/53 [00:00 does not support tracking retries. +[2026-05-26 01:32:45,616] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/huggingface_hub/file_download.py:945: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`. + warnings.warn( +[05/26 01:37:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 3947 episode 0 object objametalloop_25c41058e5f24271808b14c0ac40a02a_1_0_8 completed with success=False +[05/26 01:37:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3947: 1 episodes +[05/26 01:37:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:37:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:37:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_3947 +[05/26 01:37:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3947 in 2.67s (batch: 2.54s, save: 0.13s) +[05/26 01:37:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3947 +[05/26 01:37:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3947: 0/1 successful episodes +[05/26 01:37:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3991 (index 2/36) +[05/26 01:37:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3991 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 01:37:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +[2026-05-26 01:40:06,633] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 01:41:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:44:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 3991 episode 0 object objapuzzlepiece_8882000196234ce7aefd64b149f3064e_1_0_6 completed with success=False +[05/26 01:44:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3991: 1 episodes +[05/26 01:44:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:44:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:44:38 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_3991 +[05/26 01:44:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3991 in 2.12s (batch: 2.03s, save: 0.09s) +[05/26 01:44:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3991 +[05/26 01:44:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3991: 0/1 successful episodes +[05/26 01:44:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4021 (index 3/36) +[05/26 01:44:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4021 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 01:44:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/26 [00:00 does not support tracking retries. +[2026-05-26 01:56:35,953] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 01:57:39 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:00:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 4021 episode 0 object objasportsvisor_2fe424987e594148959acafbebe79f41_1_0_7 completed with success=False +[05/26 02:00:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4021: 1 episodes +[05/26 02:00:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:00:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:00:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4021 +[05/26 02:00:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4021 in 3.42s (batch: 3.27s, save: 0.15s) +[05/26 02:00:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4021 +[05/26 02:00:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4021: 0/1 successful episodes +[05/26 02:00:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4079 (index 4/36) +[05/26 02:00:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4079 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 02:00:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[2026-05-26 02:03:54,646] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:09:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 4079 episode 0 object objabutterflyknife_be05554b77de495ea5e92d3bcb7730fa_1_0_8 completed with success=False +[05/26 02:09:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4079: 1 episodes +[05/26 02:09:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:09:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:09:28 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4079 +[05/26 02:09:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4079 in 3.59s (batch: 3.39s, save: 0.20s) +[05/26 02:09:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4079 +[05/26 02:09:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4079: 0/1 successful episodes +[05/26 02:09:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4144 (index 5/36) +[05/26 02:09:29 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4144 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 02:09:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/62 [00:00 does not support tracking retries. +[05/26 02:09:44 Worker 0 WARNING object_manager.py:1238] Could not find object objashoe_ca4b35d9115e458f8f4c22dfb3d73f7b_1_0_9 in scene +[05/26 02:09:44 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_973bce9435d852757b03afc168e4c1df_1_0_9 in scene +[2026-05-26 02:11:46,895] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:16:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 4144 episode 0 object objadentures_db38ff23dc534a8c8d27a1107904ef94_1_0_9 completed with success=False +[05/26 02:16:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4144: 1 episodes +[05/26 02:16:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:16:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:16:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4144 +[05/26 02:16:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4144 in 3.34s (batch: 3.22s, save: 0.12s) +[05/26 02:16:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4144 +[05/26 02:16:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4144: 0/1 successful episodes +[05/26 02:16:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4213 (index 6/36) +[05/26 02:16:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4213 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 02:16:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/44 [00:00 does not support tracking retries. +[2026-05-26 02:18:43,955] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:24:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 4213 episode 0 object objaplayingcard_c57676d9c0444741baf5a1154af6bc9b_1_0_6 completed with success=False +[05/26 02:24:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4213: 1 episodes +[05/26 02:24:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:24:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:24:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4213 +[05/26 02:24:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4213 in 4.29s (batch: 4.17s, save: 0.12s) +[05/26 02:24:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4213 +[05/26 02:24:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4213: 0/1 successful episodes +[05/26 02:24:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4289 (index 7/36) +[05/26 02:24:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4289 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 02:24:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/25 [00:00 does not support tracking retries. +[2026-05-26 02:27:11,648] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:32:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 4289 episode 0 object objaspinningtop_c1badded9748431db08a9c969d3fea5e_1_0_7 completed with success=False +[05/26 02:32:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4289: 1 episodes +[05/26 02:32:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:32:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:32:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4289 +[05/26 02:32:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4289 in 2.89s (batch: 2.76s, save: 0.13s) +[05/26 02:32:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4289 +[05/26 02:32:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4289: 0/1 successful episodes +[05/26 02:32:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4303 (index 8/36) +[05/26 02:32:37 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4303 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 02:32:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/26 02:32:47 Worker 0 WARNING object_manager.py:1238] Could not find object egg_aeca24b46189bee76c22ec0349729d60_1_0_8 in scene +[2026-05-26 02:34:59,042] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:35:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:45:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 4303 episode 0 object objacomputerkeyboard_51f63167c849450a89b65fcd7d81e8f7_1_0_6 completed with success=False +[05/26 02:45:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/26 02:45:38 Worker 0 WARNING object_manager.py:1238] Could not find object egg_aeca24b46189bee76c22ec0349729d60_1_0_8 in scene +[2026-05-26 02:47:55,367] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:49:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:53:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 4303 episode 1 object objaneedlenosepliers_0079418517784f2bbf0aec6fd8de3cde_1_0_8 completed with success=False +[05/26 02:53:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4303: 2 episodes +[05/26 02:53:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:53:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:53:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:53:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:53:47 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4303 +[05/26 02:53:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4303 in 6.55s (batch: 6.21s, save: 0.35s) +[05/26 02:53:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4303 +[05/26 02:53:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4303: 0/2 successful episodes +[05/26 02:53:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4347 (index 9/36) +[05/26 02:53:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4347 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 02:53:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/18 [00:00 does not support tracking retries. +[05/26 02:53:54 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_3 in scene +[2026-05-26 02:56:16,490] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:57:48 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:01:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 4347 episode 0 object objamountingbracket_89c52ab7b8f149369c832713bad2203c_1_0_2 completed with success=False +[05/26 03:01:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4347: 1 episodes +[05/26 03:01:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:01:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:01:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4347 +[05/26 03:01:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4347 in 3.76s (batch: 3.54s, save: 0.22s) +[05/26 03:01:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4347 +[05/26 03:01:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4347: 0/1 successful episodes +[05/26 03:01:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4382 (index 10/36) +[05/26 03:01:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4382 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 03:01:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +[2026-05-26 03:04:16,696] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:05:48 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:13:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 4382 episode 0 object objastoneblock_7a500b5f08d349f09cb3855ed029e6fa_1_0_5 completed with success=False +[05/26 03:13:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4382: 1 episodes +[05/26 03:13:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:13:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:13:12 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4382 +[05/26 03:13:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4382 in 3.59s (batch: 3.36s, save: 0.23s) +[05/26 03:13:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4382 +[05/26 03:13:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4382: 0/1 successful episodes +[05/26 03:13:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4423 (index 11/36) +[05/26 03:13:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4423 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 03:13:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +[2026-05-26 03:15:23,869] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:15:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:20:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 4423 episode 0 object objamannequinhand_9507be033ab14d248bc3479e16927993_1_0_4 completed with success=False +[05/26 03:20:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4423: 1 episodes +[05/26 03:20:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:20:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:20:15 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4423 +[05/26 03:20:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4423 in 2.88s (batch: 2.73s, save: 0.15s) +[05/26 03:20:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4423 +[05/26 03:20:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4423: 0/1 successful episodes +[05/26 03:20:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4493 (index 12/36) +[05/26 03:20:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4493 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 03:20:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +[05/26 03:20:29 Worker 0 WARNING object_manager.py:1238] Could not find object objapendantnecklace_11a5d7ca6f1e43a2a8ee668935acfb1e_1_0_7 in scene +[05/26 03:20:29 Worker 0 WARNING object_manager.py:1238] Could not find object objadentures_db38ff23dc534a8c8d27a1107904ef94_2_0_7 in scene +[05/26 03:20:29 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_7 in scene +[2026-05-26 03:22:20,448] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:25:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 4493 episode 0 object objanoveltycard_8e6f2b6b96e24c6096116eb97376abff_1_0_4 completed with success=False +[05/26 03:25:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4493: 1 episodes +[05/26 03:25:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:25:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:25:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4493 +[05/26 03:25:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4493 in 2.55s (batch: 2.39s, save: 0.16s) +[05/26 03:25:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4493 +[05/26 03:25:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4493: 0/1 successful episodes +[05/26 03:25:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4545 (index 13/36) +[05/26 03:25:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4545 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 03:25:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +[05/26 03:25:42 Worker 0 WARNING object_manager.py:1238] Could not find object objacleaningsponge_f173c4e92f854efe86fa939466e08e4b_1_0_5 in scene +[05/26 03:25:42 Worker 0 WARNING object_manager.py:1238] Could not find object objapocketwatch_dbb40c6f9226401f88230d46a12fa50f_1_0_5 in scene +[05/26 03:25:42 Worker 0 WARNING object_manager.py:1238] Could not find object objalogo_de1cf01f0b664aa5bc031db15d7686d2_1_0_6 in scene +[05/26 03:25:42 Worker 0 WARNING object_manager.py:1238] Could not find object plate_3c4427455eeccda33c6e6db585f41627_1_0_6 in scene +[05/26 03:25:42 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturemodel_5ab1392182d345b49b3391f7776339e9_1_0_6 in scene +[05/26 03:25:42 Worker 0 WARNING object_manager.py:1238] Could not find object objapastry_76c0179636324a60bcf8cda8496a1fc7_1_0_6 in scene +[2026-05-26 03:27:48,843] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:37:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 4545 episode 0 object objascrewdriver_240935915a744929914369cc12816ab2_1_0_7 completed with success=False +[05/26 03:37:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4545: 1 episodes +[05/26 03:37:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:37:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:37:48 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4545 +[05/26 03:37:48 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4545 in 3.18s (batch: 3.06s, save: 0.13s) +[05/26 03:37:49 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4545 +[05/26 03:37:49 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4545: 0/1 successful episodes +[05/26 03:37:49 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4600 (index 14/36) +[05/26 03:37:49 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4600 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 03:37:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +[05/26 03:38:12 Worker 0 WARNING object_manager.py:1238] Could not find object objakitchenutensil_c039015dad6245cabd9044c67ada4252_1_0_2 in scene +[05/26 03:38:12 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativesymbol_901e291f621540ab85bf50d5b6fc25de_1_0_5 in scene +[05/26 03:38:12 Worker 0 WARNING object_manager.py:1238] Could not find object objawasher_43e7ebcba34645448a997c3d03054d33_1_0_5 in scene +[05/26 03:38:12 Worker 0 WARNING object_manager.py:1238] Could not find object objanecklace_6c0291d03378411d96d26cc95e398a73_1_0_9 in scene +[05/26 03:38:12 Worker 0 WARNING object_manager.py:1238] Could not find object objadressshoe_dc620e458adb44cdb9a0878e5a7e1630_1_0_9 in scene +[2026-05-26 03:40:23,531] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:46:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 4600 episode 0 object knife_2933d9425c8587a7d4ddaae661ac7598_1_0_2 completed with success=False +[05/26 03:46:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4600: 1 episodes +[05/26 03:46:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:46:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:46:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4600 +[05/26 03:46:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4600 in 2.86s (batch: 2.77s, save: 0.09s) +[05/26 03:46:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4600 +[05/26 03:46:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4600: 0/1 successful episodes +[05/26 03:46:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4644 (index 15/36) +[05/26 03:46:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4644 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 03:46:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/6 [00:00 does not support tracking retries. +[2026-05-26 03:48:10,561] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:49:20 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:53:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 4644 episode 0 object objaicecreamcone_cc5e3d70ebba4215890504ea311252ba_1_0_2 completed with success=False +[05/26 03:53:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4644: 1 episodes +[05/26 03:53:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:53:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:53:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4644 +[05/26 03:53:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4644 in 4.43s (batch: 4.27s, save: 0.16s) +[05/26 03:53:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4644 +[05/26 03:53:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4644: 0/1 successful episodes +[05/26 03:53:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4702 (index 16/36) +[05/26 03:53:35 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4702 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 03:53:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +[2026-05-26 03:55:36,104] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:56:39 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:59:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 4702 episode 0 object objachocolatebunny_3fd78d69b770429a8a680caaa65e57e8_1_0_6 completed with success=False +[05/26 03:59:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4702: 1 episodes +[05/26 03:59:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:59:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:59:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4702 +[05/26 03:59:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4702 in 3.35s (batch: 3.23s, save: 0.13s) +[05/26 03:59:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4702 +[05/26 03:59:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4702: 0/1 successful episodes +[05/26 03:59:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4727 (index 17/36) +[05/26 03:59:53 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4727 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 03:59:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/60 [00:00 does not support tracking retries. +[05/26 04:00:11 Worker 0 WARNING object_manager.py:1238] Could not find object objamountingfixture_c45afc98ee6c4081a0091f6cb3b0ee66_1_0_4 in scene +[05/26 04:00:11 Worker 0 WARNING object_manager.py:1238] Could not find object objatoyrocket_f2c0811c3fc24bcb99a7c96acaf5a793_1_0_4 in scene +[05/26 04:00:11 Worker 0 WARNING object_manager.py:1238] Could not find object candle_1b82c5d62bcdb9c9e0fbc639fdc9e22a_1_0_4 in scene +[05/26 04:00:11 Worker 0 WARNING object_manager.py:1238] Could not find object objapocketwatch_1dbb7462a3e04e918023f6fec7743ee2_1_0_5 in scene +[2026-05-26 04:02:11,803] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:03:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:07:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 4727 episode 0 object objatoysoldier_966ecae1911843adbf05131eeb7c63cb_1_0_8 completed with success=False +[05/26 04:07:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/60 [00:00 does not support tracking retries. +[05/26 04:07:28 Worker 0 WARNING object_manager.py:1238] Could not find object objamountingfixture_c45afc98ee6c4081a0091f6cb3b0ee66_1_0_4 in scene +[05/26 04:07:28 Worker 0 WARNING object_manager.py:1238] Could not find object objatoyrocket_f2c0811c3fc24bcb99a7c96acaf5a793_1_0_4 in scene +[05/26 04:07:28 Worker 0 WARNING object_manager.py:1238] Could not find object candle_1b82c5d62bcdb9c9e0fbc639fdc9e22a_1_0_4 in scene +[05/26 04:07:28 Worker 0 WARNING object_manager.py:1238] Could not find object objapocketwatch_1dbb7462a3e04e918023f6fec7743ee2_1_0_5 in scene +[2026-05-26 04:09:07,177] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:10:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:16:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 4727 episode 1 object objacleaningsponge_afd092fac12f4ef8984b80d3d15de232_1_0_9 completed with success=False +[05/26 04:16:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4727: 2 episodes +[05/26 04:16:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:16:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:16:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:16:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:16:30 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4727 +[05/26 04:16:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4727 in 7.69s (batch: 7.33s, save: 0.36s) +[05/26 04:16:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4727 +[05/26 04:16:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4727: 0/2 successful episodes +[05/26 04:16:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4742 (index 18/36) +[05/26 04:16:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4742 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 04:16:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/8 [00:00 does not support tracking retries. +[05/26 04:16:36 Worker 0 WARNING object_manager.py:1238] Could not find object objaswitchplate_80ed82d00f494be2b5a8706d3c06c832_2_0_2 in scene +[05/26 04:16:36 Worker 0 WARNING object_manager.py:1238] Could not find object objatooth_4ec84bfdbbec4663b9a730ef943e0768_1_0_2 in scene +[2026-05-26 04:18:48,300] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:22:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 4742 episode 0 object objaswitchplate_80ed82d00f494be2b5a8706d3c06c832_1_0_2 completed with success=False +[05/26 04:22:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4742: 1 episodes +[05/26 04:22:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:22:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:22:54 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4742 +[05/26 04:22:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4742 in 2.73s (batch: 2.60s, save: 0.13s) +[05/26 04:22:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4742 +[05/26 04:22:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4742: 0/1 successful episodes +[05/26 04:22:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4773 (index 19/36) +[05/26 04:22:55 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4773 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 04:22:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +[2026-05-26 04:24:39,896] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:25:14 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:30:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 4773 episode 0 object objadigitalmusicplayer_718d4a2a12e8402faa7af85890acb08c_1_0_6 completed with success=False +[05/26 04:30:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4773: 1 episodes +[05/26 04:30:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:30:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:30:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4773 +[05/26 04:30:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4773 in 3.76s (batch: 3.63s, save: 0.14s) +[05/26 04:30:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4773 +[05/26 04:30:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4773: 0/1 successful episodes +[05/26 04:30:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4807 (index 20/36) +[05/26 04:30:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4807 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 04:30:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +[2026-05-26 04:32:20,994] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:33:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:35:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 4807 episode 0 object objawoodenstick_1bd5fecf74bf4cdb987da156d2c0ac96_1_0_2 completed with success=False +[05/26 04:36:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4807: 1 episodes +[05/26 04:36:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:36:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:36:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4807 +[05/26 04:36:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4807 in 2.95s (batch: 2.78s, save: 0.16s) +[05/26 04:36:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4807 +[05/26 04:36:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4807: 0/1 successful episodes +[05/26 04:36:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4860 (index 21/36) +[05/26 04:36:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4860 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 04:36:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +[05/26 04:36:14 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingpanel_a3d6f7df9ff94ed59f95d5086d5f3fdd_1_0_7 in scene +[2026-05-26 04:37:23,290] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:37:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:40:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 4860 episode 0 object objametalring_43d9083d869849ed9a6f6c8cbdd7ad54_1_0_4 completed with success=False +[05/26 04:40:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4860: 1 episodes +[05/26 04:40:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:40:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:40:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4860 +[05/26 04:40:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4860 in 2.79s (batch: 2.70s, save: 0.10s) +[05/26 04:40:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4860 +[05/26 04:40:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4860: 0/1 successful episodes +[05/26 04:40:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4933 (index 22/36) +[05/26 04:40:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4933 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 04:40:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +[05/26 04:40:28 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativesign_70e7e629b1a4405d8227a2f54e0973b9_1_0_2 in scene +[05/26 04:40:28 Worker 0 WARNING object_manager.py:1238] Could not find object egg_7331ece1e05e35ccf61e870ea8948aac_1_0_2 in scene +[2026-05-26 04:41:55,258] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:46:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 4933 episode 0 object objatelegraphkey_152bc6ed25b14945b6ff62a60f446334_1_0_4 completed with success=False +[05/26 04:46:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4933: 1 episodes +[05/26 04:46:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:46:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:46:19 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4933 +[05/26 04:46:19 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4933 in 3.05s (batch: 2.93s, save: 0.12s) +[05/26 04:46:20 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4933 +[05/26 04:46:20 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4933: 0/1 successful episodes +[05/26 04:46:20 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4983 (index 23/36) +[05/26 04:46:20 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4983 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 04:46:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[2026-05-26 04:48:40,328] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:54:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 4983 episode 0 object objagavel_2ae6147628c04ac7a28bfe2b5982b4c3_1_0_6 completed with success=False +[05/26 04:54:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4983: 1 episodes +[05/26 04:54:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:54:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:54:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4983 +[05/26 04:54:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4983 in 3.08s (batch: 2.99s, save: 0.09s) +[05/26 04:54:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4983 +[05/26 04:54:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4983: 0/1 successful episodes +[05/26 04:54:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5023 (index 24/36) +[05/26 04:54:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5023 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 04:54:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/26 04:54:32 Worker 0 WARNING object_manager.py:1238] Could not find object objacrystalcluster_5cfc211a49164bf2835a121b5069ee08_1_0_7 in scene +[05/26 04:54:32 Worker 0 WARNING object_manager.py:1238] Could not find object objamarkerpen_9ded8666275148929a57190ab939c735_1_0_7 in scene +[2026-05-26 04:55:46,274] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:56:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:00:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 5023 episode 0 object objanetworkswitch_94d0fae6892d48399d1a42a4313c0184_1_0_4 completed with success=False +[05/26 05:00:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5023: 1 episodes +[05/26 05:00:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:00:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:00:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5023 +[05/26 05:00:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5023 in 3.24s (batch: 2.92s, save: 0.32s) +[05/26 05:00:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5023 +[05/26 05:00:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5023: 0/1 successful episodes +[05/26 05:00:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5048 (index 25/36) +[05/26 05:00:31 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 5048 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 05:00:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +[05/26 05:00:39 Worker 0 WARNING object_manager.py:1238] Could not find object objapuzzle_c96dad7a8d9f459e83a1cbeeb7370d55_1_0_3 in scene +[2026-05-26 05:02:29,313] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:07:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 5048 episode 0 object objaprintedcircuitboard_0c1eb50df8de4c2d9d4d694014204d86_1_0_6 completed with success=False +[05/26 05:07:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +[05/26 05:07:22 Worker 0 WARNING object_manager.py:1238] Could not find object objapuzzle_c96dad7a8d9f459e83a1cbeeb7370d55_1_0_3 in scene +[2026-05-26 05:09:30,956] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:16:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 5048 episode 1 object objatoysoldier_8f055c6314cd4e6cb1f4236d145f5179_1_0_4 completed with success=False +[05/26 05:16:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5048: 2 episodes +[05/26 05:16:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:16:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:16:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:16:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:16:33 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5048 +[05/26 05:16:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5048 in 7.16s (batch: 6.76s, save: 0.40s) +[05/26 05:16:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5048 +[05/26 05:16:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5048: 0/2 successful episodes +[05/26 05:16:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5116 (index 26/36) +[05/26 05:16:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5116 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 05:16:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +[2026-05-26 05:18:53,243] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:19:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:23:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 5116 episode 0 object objamoviecamera_64bd72851ef349ef9cd24403df1789ad_1_0_7 completed with success=False +[05/26 05:23:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5116: 1 episodes +[05/26 05:23:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:23:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:23:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5116 +[05/26 05:23:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5116 in 3.79s (batch: 3.63s, save: 0.16s) +[05/26 05:23:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5116 +[05/26 05:23:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5116: 0/1 successful episodes +[05/26 05:23:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5165 (index 27/36) +[05/26 05:23:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5165 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 05:23:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[2026-05-26 05:26:10,884] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:27:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:31:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 5165 episode 0 object objakendama_66f39ae4147c4fe2ae6d80baf2472e15_1_0_3 completed with success=False +[05/26 05:31:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5165: 1 episodes +[05/26 05:31:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:31:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:31:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5165 +[05/26 05:31:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5165 in 3.22s (batch: 3.08s, save: 0.13s) +[05/26 05:31:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5165 +[05/26 05:31:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5165: 0/1 successful episodes +[05/26 05:31:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5219 (index 28/36) +[05/26 05:31:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5219 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 05:31:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +[05/26 05:31:53 Worker 0 WARNING object_manager.py:1238] Could not find object objainsect_016576dd30c1464f9115584748950ed2_1_0_2 in scene +[05/26 05:31:53 Worker 0 WARNING object_manager.py:1238] Could not find object apple_1d4990dc37d751a859248eaa9d6ecea0_1_0_2 in scene +[2026-05-26 05:34:11,341] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:35:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:38:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 5219 episode 0 object objaaerosolcan_d31366b00ec64a42a05c1eb8a49f346c_1_0_3 completed with success=False +[05/26 05:38:50 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5219: 1 episodes +[05/26 05:38:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:38:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:38:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5219 +[05/26 05:38:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5219 in 3.11s (batch: 2.99s, save: 0.13s) +[05/26 05:38:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5219 +[05/26 05:38:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5219: 0/1 successful episodes +[05/26 05:38:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5291 (index 29/36) +[05/26 05:38:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5291 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 05:38:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +[05/26 05:39:08 Worker 0 WARNING object_manager.py:1238] Could not find object objatapedispenser_2988a85fdf0f4a679b17335bd8e26871_1_0_7 in scene +[2026-05-26 05:41:07,643] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:42:10 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:48:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 5291 episode 0 object objafoodpacket_58ff4a1e3fb24fbca6989f9b6d1fe23e_1_0_8 completed with success=False +[05/26 05:48:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5291: 1 episodes +[05/26 05:48:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:48:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:48:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5291 +[05/26 05:48:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5291 in 3.69s (batch: 3.53s, save: 0.16s) +[05/26 05:48:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5291 +[05/26 05:48:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5291: 0/1 successful episodes +[05/26 05:48:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5361 (index 30/36) +[05/26 05:48:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5361 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 05:48:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +[2026-05-26 05:50:28,379] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:51:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:57:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 5361 episode 0 object Irishpotato_e1aace659043c0d77e47a9e124a3b2b8_1_0_6 completed with success=False +[05/26 05:57:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5361: 1 episodes +[05/26 05:57:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:57:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:57:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5361 +[05/26 05:57:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5361 in 2.27s (batch: 2.17s, save: 0.10s) +[05/26 05:57:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5361 +[05/26 05:57:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5361: 0/1 successful episodes +[05/26 05:57:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5390 (index 31/36) +[05/26 05:57:21 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 5390 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 05:57:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +[2026-05-26 05:58:58,538] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:59:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:02:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 5390 episode 0 object objavideocamera_3bd48bc193c54407a7ffdbea3c37a4d6_1_0_7 completed with success=False +[05/26 06:02:08 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +[2026-05-26 06:03:21,298] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:04:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:10:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 5390 episode 1 object objamug_8529afb010814c188970381c3596afef_1_0_6 completed with success=False +[05/26 06:11:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5390: 2 episodes +[05/26 06:11:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:11:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:11:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:11:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:11:14 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5390 +[05/26 06:11:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5390 in 8.89s (batch: 8.59s, save: 0.31s) +[05/26 06:11:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5390 +[05/26 06:11:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5390: 0/2 successful episodes +[05/26 06:11:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5428 (index 32/36) +[05/26 06:11:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5428 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 06:11:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/27 [00:00 does not support tracking retries. +[05/26 06:11:26 Worker 0 WARNING object_manager.py:1238] Could not find object objatrackshoe_de9588f97f644bd689fc6502f262575d_1_0_5 in scene +[05/26 06:11:26 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene +[2026-05-26 06:13:39,984] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:14:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:25:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 5428 episode 0 object objawasher_43e7ebcba34645448a997c3d03054d33_1_0_5 completed with success=False +[05/26 06:25:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5428: 1 episodes +[05/26 06:25:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:25:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:25:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5428 +[05/26 06:25:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5428 in 3.70s (batch: 3.59s, save: 0.12s) +[05/26 06:25:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5428 +[05/26 06:25:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5428: 0/1 successful episodes +[05/26 06:25:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5473 (index 33/36) +[05/26 06:25:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5473 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 06:25:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/26 06:25:51 Worker 0 WARNING object_manager.py:1238] Could not find object cellulartelephone_1fa394556eb37156656d60fc604d4668_1_0_4 in scene +[05/26 06:25:51 Worker 0 WARNING object_manager.py:1238] Could not find object objaicecreamcone_b7b9fd6fcea7401f88142168ef6616b4_1_0_8 in scene +[05/26 06:25:51 Worker 0 WARNING object_manager.py:1238] Could not find object tomato_b4fe73bc978b2372694676fd9d6ef462_1_0_8 in scene +[2026-05-26 06:27:04,688] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:27:34 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:32:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 5473 episode 0 object objachocolatebarpackage_c4e4135658354eaa8b72810dbae0270a_1_0_8 completed with success=False +[05/26 06:32:58 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5473: 1 episodes +[05/26 06:32:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:33:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:33:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5473 +[05/26 06:33:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5473 in 3.13s (batch: 3.03s, save: 0.10s) +[05/26 06:33:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5473 +[05/26 06:33:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5473: 0/1 successful episodes +[05/26 06:33:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5495 (index 34/36) +[05/26 06:33:02 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5495 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 06:33:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[2026-05-26 06:34:15,122] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:34:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:38:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 5495 episode 0 object objasolderingiron_fb480380d29144e7a2a6437208d10d72_1_0_7 completed with success=False +[05/26 06:38:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5495: 1 episodes +[05/26 06:38:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:38:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:38:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5495 +[05/26 06:38:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5495 in 3.10s (batch: 2.95s, save: 0.15s) +[05/26 06:38:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5495 +[05/26 06:38:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5495: 0/1 successful episodes +[05/26 06:38:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5540 (index 35/36) +[05/26 06:38:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5540 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 06:38:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +[2026-05-26 06:40:35,972] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:41:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:45:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 5540 episode 0 object objadigitalmusicplayer_718d4a2a12e8402faa7af85890acb08c_1_0_2 completed with success=False +[05/26 06:45:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5540: 1 episodes +[05/26 06:45:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:45:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:45:57 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5540 +[05/26 06:45:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5540 in 2.17s (batch: 2.08s, save: 0.09s) +[05/26 06:45:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5540 +[05/26 06:45:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5540: 0/1 successful episodes +[05/26 06:45:57 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses +[05/26 06:45:58 INFO pipeline.py:1496] Completed 36 houses, skipped 0 houses +[05/26 06:45:58 INFO pipeline.py:1499] Success count: 0, Total count: 41 +[05/26 06:45:58 INFO pipeline.py:1500] Success rate: 0.00% +Combined 41 episodes from 36 files → /tmp/tmpif31nlmf.h5 + +Saved → /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/results.csv at-end: 0.0% | oracle: 0.0% of 41 episodes +[2026-05-26 06:46:02,148] INFO MolmoSpaces simulator eval finished: success=0/41 rate=0.0000 output=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval +[2026-05-26 06:46:02,148] INFO Benchmark CSV: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/results.csv + +Submission artifacts ready: + CSV : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/submission/results.csv + Bundle zip : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/submission_bundle.zip + Summary : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/submission/summary.json + Full eval output : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval + Repro command : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/run_command.sh diff --git a/pnp_v2/pnp_v2/shards/shard_02.launcher.log b/pnp_v2/pnp_v2/shards/shard_02.launcher.log new file mode 100644 index 0000000000000000000000000000000000000000..2772a41fa240005e9afcf65c3a5a1fea25579adb --- /dev/null +++ b/pnp_v2/pnp_v2/shards/shard_02.launcher.log @@ -0,0 +1,1447 @@ +================================================================================ +Official MolmoSpaces Submission Run +================================================================================ +Checkpoint : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt +Benchmark dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +Output root : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02 +Eval output dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval +Submission dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/submission +Conda env : molmospace +Policy name : latest +Policy device : cuda:0 +Text embedding device : cpu +Prompt cache dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan +Workers : 1 +Task horizon steps : 450 +Action chunk size : 8 +Obs camera : droid_shoulder_light_randomization +Obs wrist camera : wrist_camera_zed_mini +Camera names : droid_shoulder_light_randomization wrist_camera_zed_mini +Preview camera names : droid_shoulder_light_randomization +End on success : 1 +Visualization : 0 +Save raw videos : 0 +Save video sensors : __none__ +Success condition (CSV) : both + +Official runner : molmo_spaces.evaluation.run_evaluation() +CSV exporter : molmospaces/scripts/benchmarks/eval_to_csv.py + +Command +conda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament +================================================================================ +[2026-05-26 01:03:53,183] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath'] +[2026-05-26 01:03:53,257] INFO Selected MuJoCo backend: egl +[2026-05-26 01:03:53,269] INFO Using MolmoSpaces benchmark: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 (source=arg) +[2026-05-26 01:03:56,049] INFO No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +[nltk_data] Downloading package wordnet to /home/yuanpei/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /home/yuanpei/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +[2026-05-26 01:04:18,740] INFO ResourceManager (R2RemoteStorage('https://pub-3555e9bb2d304fab9c6c79819e48aa40.r2.dev')) using: + symlink_dir=/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets + cache_dir=/home/yuanpei/.cache/molmo-spaces-resources + force_install=True +/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py:129: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +[2026-05-26 01:04:48,845] INFO Requested MolmoSpaces simulator cameras: ['droid_shoulder_light_randomization', 'wrist_camera_zed_mini'] +[2026-05-26 01:04:48,848] INFO Using save_video_sensors=['__none__'] +[2026-05-26 01:04:52,542] INFO Resolved MolmoSpaces action semantics from checkpoint: source=pnp_next_to_v2 type=molmo_raw arm_action_key=joint_pos_rel gripper_action_key=joint_pos action_type=joint_pos_rel arm_command_mode=joint_rel_position +[2026-05-26 01:04:52,644] INFO Using explicit task_horizon override: 450 steps +[05/26 01:04:52 INFO pipeline.py:677] WandB logging disabled (environment variables not set) +[2026-05-26 01:04:52,697] INFO JsonEvalRunner initialized: 35 houses, 39 episodes from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 01:04:52 INFO pipeline.py:1279] Starting house-by-house rollout of 35 houses with 2 episodes each (70 total episodes) using 1 worker processes +[05/26 01:04:52 INFO pipeline.py:1286] Evaluation configuration: +[05/26 01:04:52 INFO pipeline.py:1287] {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['droid_shoulder_light_randomization', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 'wan_molmobot_franka', + 'obs_camera_name': 'droid_shoulder_light_randomization', + 'obs_image_key': 'rgb_head', + 'obs_state_key': 'robot_state', + 'obs_wrist_camera_name': 'wrist_camera_zed_mini', + 'obs_wrist_image_key': 'rgb_wrist', + 'policy_cls': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [3935, + 3954, + 3992, + 4025, + 4085, + 4150, + 4231, + 4290, + 4334, + 4350, + 4383, + 4425, + 4500, + 4549, + 4615, + 4661, + 4705, + 4745, + 4781, + 4783, + 4809, + 4870, + 4947, + 4986, + 5045, + 5059, + 5128, + 5169, + 5232, + 5297, + 5384, + 5431, + 5474, + 5505, + 5541], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} +[2026-05-26 01:04:52,720] INFO Saved experiment configuration to /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452 +[05/26 01:04:52 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler +[05/26 01:04:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/26 01:04:52 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler +[05/26 01:04:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3935 (index 0/35) +[05/26 01:04:52 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 3935 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 01:04:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +[05/26 01:05:16 Worker 0 WARNING object_manager.py:1238] Could not find object objamarkerstand_4b59e422673a438685b77375029f7926_1_0_5 in scene +[05/26 01:05:16 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeemblem_f22bbabd422c43ccba260d2f43bd7d80_1_0_5 in scene +2026-05-26 01:05:17.833 | INFO | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0 +[2026-05-26 01:05:44,336] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k) +[2026-05-26 01:05:46,017] INFO [timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k] Safe alternative available for 'pytorch_model.bin' (as 'model.safetensors'). Loading weights using safetensors. +[2026-05-26 01:07:40,727] INFO Number of parameters in DiT: 1.821428e+07 +[2026-05-26 01:07:58,408] INFO Loaded generic psi-policy checkpoint | target=psi_policy.policy.psi_policy.PsiPolicy | obs_keys=['rgb_head', 'rgb_wrist', 'robot_state', 'text_context'] | action_horizon=16 | action_dim=8 +[2026-05-26 01:07:58,411] INFO Loaded MolmoSpaces policy | checkpoint=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt | target=psi_policy.policy.psi_policy.PsiPolicy | device=cuda:0 | action_chunk_size=8 +[05/26 01:08:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:14:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 3935 episode 0 object objapackagedfood_47feb02b3b2b4f2e8c7154d3682817a2_1_0_6 completed with success=False +[05/26 01:14:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +[05/26 01:16:16 Worker 0 WARNING object_manager.py:1238] Could not find object objamarkerstand_4b59e422673a438685b77375029f7926_1_0_5 in scene +[05/26 01:16:16 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeemblem_f22bbabd422c43ccba260d2f43bd7d80_1_0_5 in scene +[05/26 01:20:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 3935 episode 1 object objacompass_8de466ea26ab43cdadcf67d86344052a_1_0_4 completed with success=False +[05/26 01:20:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3935: 2 episodes +[05/26 01:20:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:20:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:20:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:20:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:20:51 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_3935 +[05/26 01:20:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3935 in 9.01s (batch: 8.64s, save: 0.36s) +[05/26 01:20:52 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3935 +[05/26 01:20:52 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3935: 0/2 successful episodes +[05/26 01:20:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3954 (index 1/35) +[05/26 01:20:52 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3954 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 01:20:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/7 [00:00 does not support tracking retries. +[05/26 01:22:04 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:25:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 3954 episode 0 object Irishpotato_361f25dfd6f7907d2065fffb6e0c6649_1_0_2 completed with success=False +[05/26 01:25:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3954: 1 episodes +[05/26 01:25:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:25:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:25:12 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_3954 +[05/26 01:25:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3954 in 2.39s (batch: 2.30s, save: 0.09s) +[05/26 01:25:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3954 +[05/26 01:25:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3954: 0/1 successful episodes +[05/26 01:25:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3992 (index 2/35) +[05/26 01:25:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3992 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 01:25:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/26 01:30:44 Worker 0 WARNING object_manager.py:1238] Could not find object objasyringe_0720be3e0ae84b319e90e6c7986e27dd_1_0_4 in scene +[05/26 01:30:44 Worker 0 WARNING object_manager.py:1238] Could not find object plate_3a462adb63be096cddd3c836fdb52686_1_0_4 in scene +[05/26 01:30:44 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaper_903ed803932340b19104cf5232c5dcc4_1_0_5 in scene +[05/26 01:30:44 Worker 0 WARNING object_manager.py:1238] Could not find object objasponge_5527fc83613a4653b35a3c1a75bee9a5_1_0_5 in scene +[2026-05-26 01:31:46,132] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/huggingface_hub/file_download.py:945: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`. + warnings.warn( +[05/26 01:35:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 3992 episode 0 object objaclimbingshoe_6612b1e3ee2b4e08952f6bf2b26bd75a_1_0_5 completed with success=False +[05/26 01:36:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3992: 1 episodes +[05/26 01:36:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:36:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:36:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_3992 +[05/26 01:36:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3992 in 3.51s (batch: 3.27s, save: 0.24s) +[05/26 01:36:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3992 +[05/26 01:36:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3992: 0/1 successful episodes +[05/26 01:36:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4025 (index 3/35) +[05/26 01:36:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4025 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 01:36:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[2026-05-26 01:38:27,687] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 01:42:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 4025 episode 0 object objacan_e0976ef0e465417a816b142387f41765_1_0_6 completed with success=False +[05/26 01:42:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4025: 1 episodes +[05/26 01:42:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:42:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:42:24 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4025 +[05/26 01:42:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4025 in 2.84s (batch: 2.66s, save: 0.18s) +[05/26 01:42:25 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4025 +[05/26 01:42:25 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4025: 0/1 successful episodes +[05/26 01:42:25 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4085 (index 4/35) +[05/26 01:42:25 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4085 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 01:42:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/27 [00:00 does not support tracking retries. +[2026-05-26 01:45:26,358] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 01:45:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:47:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 4085 episode 0 object objadecorativetext_55e23bd0f4014b90be7d1a5bc9a69172_1_0_4 completed with success=False +[05/26 01:47:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4085: 1 episodes +[05/26 01:47:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:47:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:47:49 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4085 +[05/26 01:47:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4085 in 2.30s (batch: 2.21s, save: 0.09s) +[05/26 01:47:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4085 +[05/26 01:47:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4085: 0/1 successful episodes +[05/26 01:47:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4150 (index 5/35) +[05/26 01:47:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4150 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 01:47:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/34 [00:00 does not support tracking retries. +[2026-05-26 01:56:32,155] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 01:57:25 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:00:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 4150 episode 0 object objanecklace_b4d304759a1b49849f84e53a31190c7c_1_0_5 completed with success=False +[05/26 02:00:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4150: 1 episodes +[05/26 02:00:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:00:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:00:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4150 +[05/26 02:00:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4150 in 3.48s (batch: 3.35s, save: 0.13s) +[05/26 02:00:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4150 +[05/26 02:00:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4150: 0/1 successful episodes +[05/26 02:00:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4231 (index 6/35) +[05/26 02:00:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4231 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 02:00:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +[2026-05-26 02:02:56,842] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:04:13 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:10:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 4231 episode 0 object objaadjustablewrench_920576578b384b27b5c3e9bf36220c88_1_0_3 completed with success=False +[05/26 02:10:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4231: 1 episodes +[05/26 02:10:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:10:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:10:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4231 +[05/26 02:10:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4231 in 3.96s (batch: 3.78s, save: 0.18s) +[05/26 02:10:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4231 +[05/26 02:10:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4231: 0/1 successful episodes +[05/26 02:10:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4290 (index 7/35) +[05/26 02:10:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4290 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 02:10:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +[05/26 02:10:50 Worker 0 WARNING object_manager.py:1238] Could not find object objametalsign_f46108fac0e4484aa085bdb0123dd7c7_1_0_8 in scene +[2026-05-26 02:12:46,846] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:17:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 4290 episode 0 object objatoytraincar_c5f7b90d80aa4ae18100ed5616179406_1_0_3 completed with success=False +[05/26 02:18:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4290: 1 episodes +[05/26 02:18:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:18:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:18:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4290 +[05/26 02:18:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4290 in 2.83s (batch: 2.70s, save: 0.13s) +[05/26 02:18:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4290 +[05/26 02:18:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4290: 0/1 successful episodes +[05/26 02:18:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4334 (index 8/35) +[05/26 02:18:04 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4334 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 02:18:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[05/26 02:18:23 Worker 0 WARNING object_manager.py:1238] Could not find object objagamingconsole_0b101590f1e34ee39fe7cfeb7264c22d_1_0_7 in scene +[2026-05-26 02:20:16,768] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:20:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:27:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 4334 episode 0 object objadoorlock_3d56a40e1bae492b89072f71651d2d63_1_0_9 completed with success=False +[05/26 02:27:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[05/26 02:27:31 Worker 0 WARNING object_manager.py:1238] Could not find object objagamingconsole_0b101590f1e34ee39fe7cfeb7264c22d_1_0_7 in scene +[2026-05-26 02:29:51,660] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:35:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 4334 episode 1 object objadecorativewand_612582bc490a4353ba468a9839bf9119_1_0_8 completed with success=False +[05/26 02:35:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4334: 2 episodes +[05/26 02:35:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:35:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:35:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:35:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:35:19 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4334 +[05/26 02:35:19 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4334 in 6.35s (batch: 6.10s, save: 0.25s) +[05/26 02:35:20 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4334 +[05/26 02:35:20 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4334: 0/2 successful episodes +[05/26 02:35:20 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4350 (index 9/35) +[05/26 02:35:20 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4350 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 02:35:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +[05/26 02:35:35 Worker 0 WARNING object_manager.py:1238] Could not find object objaspraycan_f761c777f54e414dba0b54dbab6453c7_1_0_5 in scene +[05/26 02:35:35 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +[2026-05-26 02:37:36,136] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:47:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 4350 episode 0 object objatoysword_34640d52951443888e0bb0dc99f993c5_1_0_3 completed with success=False +[05/26 02:47:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4350: 1 episodes +[05/26 02:47:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:47:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:47:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4350 +[05/26 02:47:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4350 in 3.31s (batch: 3.18s, save: 0.13s) +[05/26 02:47:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4350 +[05/26 02:47:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4350: 0/1 successful episodes +[05/26 02:47:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4383 (index 10/35) +[05/26 02:47:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4383 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 02:47:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +[2026-05-26 02:49:46,117] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:50:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:57:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 4383 episode 0 object Irishpotato_19522f313a33f0a662dcc0b1aa19547c_1_0_2 completed with success=False +[05/26 02:57:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4383: 1 episodes +[05/26 02:57:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:57:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:57:12 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4383 +[05/26 02:57:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4383 in 3.79s (batch: 3.62s, save: 0.17s) +[05/26 02:57:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4383 +[05/26 02:57:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4383: 0/1 successful episodes +[05/26 02:57:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4425 (index 11/35) +[05/26 02:57:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4425 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 02:57:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +[05/26 02:57:35 Worker 0 WARNING object_manager.py:1238] Could not find object objaartifact_fc122506e9fb4919abd5e3b5876747a4_1_0_5 in scene +[05/26 02:57:35 Worker 0 WARNING object_manager.py:1238] Could not find object objamat_e0b2b8107ba5450298811782f875ee25_1_0_5 in scene +[2026-05-26 03:00:17,631] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:10:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 4425 episode 0 object objadecorativeelement_4b009fce74c64110b521f91692a4867f_1_0_2 completed with success=False +[05/26 03:10:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4425: 1 episodes +[05/26 03:10:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:10:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:10:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4425 +[05/26 03:10:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4425 in 4.16s (batch: 3.97s, save: 0.19s) +[05/26 03:10:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4425 +[05/26 03:10:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4425: 0/1 successful episodes +[05/26 03:10:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4500 (index 12/35) +[05/26 03:10:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4500 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 03:10:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +[2026-05-26 03:12:58,867] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:14:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:17:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 4500 episode 0 object objasymbol_5742a3cd3a124f88bb061418ddc6db2b_1_0_2 completed with success=False +[05/26 03:17:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4500: 1 episodes +[05/26 03:17:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:17:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:17:52 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4500 +[05/26 03:17:52 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4500 in 4.08s (batch: 3.81s, save: 0.27s) +[05/26 03:17:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4500 +[05/26 03:17:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4500: 0/1 successful episodes +[05/26 03:17:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4549 (index 13/35) +[05/26 03:17:53 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4549 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 03:17:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +[2026-05-26 03:20:06,684] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:20:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:23:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 4549 episode 0 object objalever_5d821ac7148240c092c4face44c1d096_1_0_2 completed with success=False +[05/26 03:23:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4549: 1 episodes +[05/26 03:23:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:23:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:23:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4549 +[05/26 03:23:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4549 in 3.07s (batch: 2.93s, save: 0.14s) +[05/26 03:23:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4549 +[05/26 03:23:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4549: 0/1 successful episodes +[05/26 03:23:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4615 (index 14/35) +[05/26 03:23:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4615 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 03:23:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/24 [00:00 does not support tracking retries. +[2026-05-26 03:24:44,091] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:29:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 4615 episode 0 object objatrowel_41e5faac18994f0b9f14a515e9662354_1_0_7 completed with success=False +[05/26 03:29:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4615: 1 episodes +[05/26 03:29:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:29:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:29:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4615 +[05/26 03:29:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4615 in 3.71s (batch: 3.50s, save: 0.21s) +[05/26 03:29:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4615 +[05/26 03:29:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4615: 0/1 successful episodes +[05/26 03:29:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4661 (index 15/35) +[05/26 03:29:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4661 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 03:29:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/59 [00:00 does not support tracking retries. +[05/26 03:29:56 Worker 0 WARNING object_manager.py:1238] Could not find object objamodelhouse_46a06fe6dbbe4be6999c5c51dde9ec4b_1_0_5 in scene +[05/26 03:29:56 Worker 0 WARNING object_manager.py:1238] Could not find object objajewelry_5d13ef83fc9f496fb99b97e4f0e5e610_1_0_5 in scene +[05/26 03:29:56 Worker 0 WARNING object_manager.py:1238] Could not find object candle_fe12fa900f50b1f2dcab659cebcf492b_1_0_5 in scene +[2026-05-26 03:32:07,168] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:39:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 4661 episode 0 object objawalkietalkie_8b08a40f337644cb8ceef52be1eb824f_1_0_6 completed with success=False +[05/26 03:39:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4661: 1 episodes +[05/26 03:39:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:39:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:39:20 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4661 +[05/26 03:39:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4661 in 3.87s (batch: 3.56s, save: 0.32s) +[05/26 03:39:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4661 +[05/26 03:39:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4661: 0/1 successful episodes +[05/26 03:39:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4705 (index 16/35) +[05/26 03:39:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4705 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 03:39:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/58 [00:00 does not support tracking retries. +[2026-05-26 03:41:50,223] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:42:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:46:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 4705 episode 0 object objahandtool_61b9c84deee940f1bf2c6125f96c40e5_1_0_2 completed with success=False +[05/26 03:46:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4705: 1 episodes +[05/26 03:46:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:46:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:46:15 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4705 +[05/26 03:46:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4705 in 2.71s (batch: 2.58s, save: 0.13s) +[05/26 03:46:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4705 +[05/26 03:46:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4705: 0/1 successful episodes +[05/26 03:46:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4745 (index 17/35) +[05/26 03:46:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4745 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 03:46:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +[05/26 03:46:37 Worker 0 WARNING object_manager.py:1238] Could not find object objatoyflower_e1001602762642cca0ff1651da592cdd_1_0_8 in scene +[05/26 03:46:37 Worker 0 WARNING object_manager.py:1238] Could not find object alarmclock_92c4e6e47495ff6cf76dac0aa793f1e6_1_0_8 in scene +[2026-05-26 03:48:23,984] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:49:48 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:55:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 4745 episode 0 object objainsect_b6dbcdac7cc34379b22ff3099fa4bf5a_1_0_7 completed with success=False +[05/26 03:55:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4745: 1 episodes +[05/26 03:55:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:55:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:55:39 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4745 +[05/26 03:55:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4745 in 3.04s (batch: 2.95s, save: 0.09s) +[05/26 03:55:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4745 +[05/26 03:55:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4745: 0/1 successful episodes +[05/26 03:55:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4781 (index 18/35) +[05/26 03:55:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4781 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 03:55:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/39 [00:00 does not support tracking retries. +[2026-05-26 03:57:45,326] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:58:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:04:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 4781 episode 0 object objadecorativebell_82a59a8d2fed401ea8a9681ce7cfc3b0_1_0_4 completed with success=False +[05/26 04:04:56 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4781: 1 episodes +[05/26 04:04:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:04:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:04:59 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4781 +[05/26 04:04:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4781 in 3.33s (batch: 3.18s, save: 0.15s) +[05/26 04:05:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4781 +[05/26 04:05:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4781: 0/1 successful episodes +[05/26 04:05:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4783 (index 19/35) +[05/26 04:05:00 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4783 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 04:05:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +[2026-05-26 04:06:34,918] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:11:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 4783 episode 0 object objadisc_5766095a480e444da6185a24f8f17840_1_0_2 completed with success=False +[05/26 04:11:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +[2026-05-26 04:14:01,065] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:15:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:22:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 4783 episode 1 object objaalarmclock_71ab3427ad1142718af2ee8feb85c5fd_1_0_2 completed with success=False +[05/26 04:22:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4783: 2 episodes +[05/26 04:22:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:22:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:22:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:22:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:22:24 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4783 +[05/26 04:22:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4783 in 4.91s (batch: 4.73s, save: 0.18s) +[05/26 04:22:25 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4783 +[05/26 04:22:25 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4783: 0/2 successful episodes +[05/26 04:22:25 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4809 (index 20/35) +[05/26 04:22:25 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4809 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 04:22:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/26 04:22:39 Worker 0 WARNING object_manager.py:1238] Could not find object laptop_63fbcd680e0db93dfb0454951f2114f3_1_0_6 in scene +[05/26 04:22:39 Worker 0 WARNING object_manager.py:1238] Could not find object objametalrod_6163f82aa93d4eaeb3acd9909e1f40f0_1_0_6 in scene +[05/26 04:22:39 Worker 0 WARNING object_manager.py:1238] Could not find object vase_d568e4c5c2948c69c05d527517276b06_2_0_7 in scene +[2026-05-26 04:24:09,048] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:28:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 4809 episode 0 object objaguitareffectspedal_083eb9b9eb564701820d3a79377c77ce_1_0_5 completed with success=False +[05/26 04:28:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4809: 1 episodes +[05/26 04:28:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:28:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:28:59 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4809 +[05/26 04:28:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4809 in 3.41s (batch: 3.25s, save: 0.16s) +[05/26 04:29:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4809 +[05/26 04:29:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4809: 0/1 successful episodes +[05/26 04:29:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4870 (index 21/35) +[05/26 04:29:00 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4870 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 04:29:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[2026-05-26 04:31:08,356] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:32:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:35:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 4870 episode 0 object objacandle_a4849fae6e164623a7883695426daa50_1_0_5 completed with success=False +[05/26 04:35:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4870: 1 episodes +[05/26 04:35:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:35:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:35:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4870 +[05/26 04:35:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4870 in 3.13s (batch: 3.02s, save: 0.11s) +[05/26 04:35:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4870 +[05/26 04:35:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4870: 0/1 successful episodes +[05/26 04:35:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4947 (index 22/35) +[05/26 04:35:35 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4947 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 04:35:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +[2026-05-26 04:36:48,643] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:39:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 4947 episode 0 object objaneedlenosepliers_0079418517784f2bbf0aec6fd8de3cde_1_0_2 completed with success=False +[05/26 04:39:35 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4947: 1 episodes +[05/26 04:39:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:39:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:39:38 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4947 +[05/26 04:39:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4947 in 2.71s (batch: 2.56s, save: 0.15s) +[05/26 04:39:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4947 +[05/26 04:39:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4947: 0/1 successful episodes +[05/26 04:39:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4986 (index 23/35) +[05/26 04:39:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4986 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 04:39:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +[05/26 04:39:53 Worker 0 WARNING object_manager.py:1238] Could not find object objatoybomb_1631526a79b44d3a96382b1802a59fb7_1_0_6 in scene +[05/26 04:39:53 Worker 0 WARNING object_manager.py:1238] Could not find object vase_e3478e74916159222cb33c5c329dc2b8_1_0_6 in scene +[05/26 04:39:53 Worker 0 WARNING object_manager.py:1238] Could not find object objapapertowelroll_d62583f82dfe46f0a8a8255d35a6de62_1_0_7 in scene +[05/26 04:39:53 Worker 0 WARNING object_manager.py:1238] Could not find object objasoap_539c979c75b34576b75f3383e96eadb5_1_0_7 in scene +[05/26 04:39:53 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativescript_698f49c7bedb4fc3a5777a9f4edcc5bc_1_0_8 in scene +[05/26 04:39:53 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_8 in scene +[2026-05-26 04:41:08,987] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:41:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:46:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 4986 episode 0 object objahourglass_e278f37f71ac4e2e980c6ef53899c2d7_1_0_9 completed with success=False +[05/26 04:46:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4986: 1 episodes +[05/26 04:46:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:46:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:46:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4986 +[05/26 04:46:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4986 in 2.54s (batch: 2.39s, save: 0.15s) +[05/26 04:46:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4986 +[05/26 04:46:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4986: 0/1 successful episodes +[05/26 04:46:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5045 (index 24/35) +[05/26 04:46:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5045 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 04:46:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +[05/26 04:46:35 Worker 0 WARNING object_manager.py:1238] Could not find object objaframedportrait_117946e14b8545a69e962fce2b8a5022_1_0_8 in scene +[05/26 04:46:35 Worker 0 WARNING object_manager.py:1238] Could not find object laptop_63fbcd680e0db93dfb0454951f2114f3_1_0_8 in scene +[2026-05-26 04:48:26,437] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:53:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 5045 episode 0 object objataxidermybird_843000ec4e604edbaa76946cd1a89501_1_0_2 completed with success=False +[05/26 04:53:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5045: 1 episodes +[05/26 04:53:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:53:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:53:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5045 +[05/26 04:53:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5045 in 2.79s (batch: 2.66s, save: 0.13s) +[05/26 04:53:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5045 +[05/26 04:53:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5045: 0/1 successful episodes +[05/26 04:53:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5059 (index 25/35) +[05/26 04:53:11 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 5059 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 04:53:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +[2026-05-26 04:54:30,905] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:54:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:01:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 5059 episode 0 object objahandmirror_a3348d3e4a674350af738e8cf20ec378_1_0_5 completed with success=False +[05/26 05:01:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +[2026-05-26 05:03:29,100] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:04:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:07:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 5059 episode 1 object objascopemount_97d5328f85dd40cfaec1aed7a00164f3_1_0_4 completed with success=False +[05/26 05:07:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5059: 2 episodes +[05/26 05:07:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:07:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:07:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:07:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:07:35 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5059 +[05/26 05:07:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5059 in 6.55s (batch: 6.31s, save: 0.24s) +[05/26 05:07:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5059 +[05/26 05:07:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5059: 0/2 successful episodes +[05/26 05:07:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5128 (index 26/35) +[05/26 05:07:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5128 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 05:07:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +[05/26 05:07:48 Worker 0 WARNING object_manager.py:1238] Could not find object objajewelry_5d13ef83fc9f496fb99b97e4f0e5e610_1_0_3 in scene +[05/26 05:07:48 Worker 0 WARNING object_manager.py:1238] Could not find object objaexternalharddrive_fd2d9721dc3a4fc6841e38f30fbad6c0_1_0_3 in scene +[05/26 05:07:48 Worker 0 WARNING object_manager.py:1238] Could not find object objatoothmodel_7e325316ef424bc6b71ee680528b6eeb_1_0_4 in scene +[05/26 05:07:48 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturetrafficlight_30f361478c8143fbb463dcf9b2a0cb61_1_0_4 in scene +[2026-05-26 05:10:04,527] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:11:49 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:16:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 5128 episode 0 object objahandtool_7985f67d4f204df78904cd50b73cbf0f_1_0_2 completed with success=False +[05/26 05:16:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5128: 1 episodes +[05/26 05:16:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:16:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:16:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5128 +[05/26 05:16:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5128 in 3.02s (batch: 2.88s, save: 0.14s) +[05/26 05:16:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5128 +[05/26 05:16:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5128: 0/1 successful episodes +[05/26 05:16:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5169 (index 27/35) +[05/26 05:16:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5169 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 05:16:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/9 [00:00 does not support tracking retries. +[2026-05-26 05:19:07,593] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:22:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 5169 episode 0 object objapipecutter_9113b144802144b683d8db86f7d7388c_2_0_2 completed with success=False +[05/26 05:22:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5169: 1 episodes +[05/26 05:22:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:22:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:22:29 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5169 +[05/26 05:22:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5169 in 3.12s (batch: 2.99s, save: 0.13s) +[05/26 05:22:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5169 +[05/26 05:22:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5169: 0/1 successful episodes +[05/26 05:22:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5232 (index 28/35) +[05/26 05:22:30 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5232 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 05:22:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +[2026-05-26 05:24:46,797] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:26:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:33:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 5232 episode 0 object objadomino_c97ea56f249340cea90c4f66e84108dc_1_0_7 completed with success=False +[05/26 05:33:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5232: 1 episodes +[05/26 05:33:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:33:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:33:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5232 +[05/26 05:33:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5232 in 3.56s (batch: 3.31s, save: 0.25s) +[05/26 05:33:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5232 +[05/26 05:33:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5232: 0/1 successful episodes +[05/26 05:33:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5297 (index 29/35) +[05/26 05:33:57 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5297 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 05:33:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +[2026-05-26 05:36:13,639] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:40:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 5297 episode 0 object objadecorativechain_920dd47d98484df4a23b8dee1b378c6a_1_0_7 completed with success=False +[05/26 05:40:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5297: 1 episodes +[05/26 05:40:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:41:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:41:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5297 +[05/26 05:41:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5297 in 3.04s (batch: 2.92s, save: 0.12s) +[05/26 05:41:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5297 +[05/26 05:41:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5297: 0/1 successful episodes +[05/26 05:41:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5384 (index 30/35) +[05/26 05:41:02 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5384 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 05:41:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +[05/26 05:41:11 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingpanel_8bde878be8dd4fb7b6914db9c4dd31bb_1_0_4 in scene +[2026-05-26 05:43:21,401] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:50:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 5384 episode 0 object objavintagecamera_0e0b88c0baf8434fbd236ee93dc8d107_1_0_6 completed with success=False +[05/26 05:50:46 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5384: 1 episodes +[05/26 05:50:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:50:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:50:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5384 +[05/26 05:50:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5384 in 3.76s (batch: 3.61s, save: 0.16s) +[05/26 05:50:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5384 +[05/26 05:50:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5384: 0/1 successful episodes +[05/26 05:50:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5431 (index 31/35) +[05/26 05:50:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5431 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 05:50:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/24 [00:00 does not support tracking retries. +[2026-05-26 05:53:05,419] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:54:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:58:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 5431 episode 0 object objadeskcalendar_c0ddec650d304adbb5d6730f43205dda_1_0_7 completed with success=False +[05/26 05:58:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5431: 1 episodes +[05/26 05:58:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:58:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:58:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5431 +[05/26 05:58:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5431 in 3.18s (batch: 2.99s, save: 0.19s) +[05/26 05:58:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5431 +[05/26 05:58:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5431: 0/1 successful episodes +[05/26 05:58:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5474 (index 32/35) +[05/26 05:58:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5474 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 05:58:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/24 [00:00 does not support tracking retries. +[2026-05-26 06:00:10,328] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:00:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:02:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 5474 episode 0 object objatradingcard_90d980fb471f440aa1d16866c79c61f7_1_0_6 completed with success=False +[05/26 06:02:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5474: 1 episodes +[05/26 06:02:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:02:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:02:57 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5474 +[05/26 06:02:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5474 in 2.70s (batch: 2.57s, save: 0.14s) +[05/26 06:02:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5474 +[05/26 06:02:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5474: 0/1 successful episodes +[05/26 06:02:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5505 (index 33/35) +[05/26 06:02:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5505 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 06:02:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/44 [00:00 does not support tracking retries. +[05/26 06:03:10 Worker 0 WARNING object_manager.py:1238] Could not find object objadentures_9f8a86701e5549c6bf6004b4f58bdd31_1_0_5 in scene +[05/26 06:03:10 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_7 in scene +[05/26 06:03:10 Worker 0 WARNING object_manager.py:1238] Could not find object objatoyrocket_b9bdbba91b454caa8f8c82b946ded428_1_0_8 in scene +[05/26 06:03:10 Worker 0 WARNING object_manager.py:1238] Could not find object objacomputermouse_c4c6d54694f3481eb60235314cbf2dc9_1_0_8 in scene +[2026-05-26 06:05:00,284] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:06:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:13:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 5505 episode 0 object objawoodencarving_6589b07c9b2d49778e08d7e6110c04c6_1_0_9 completed with success=False +[05/26 06:14:04 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5505: 1 episodes +[05/26 06:14:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:14:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:14:07 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5505 +[05/26 06:14:07 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5505 in 3.25s (batch: 3.12s, save: 0.13s) +[05/26 06:14:08 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5505 +[05/26 06:14:08 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5505: 0/1 successful episodes +[05/26 06:14:08 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5541 (index 34/35) +[05/26 06:14:08 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5541 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 06:14:08 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +[05/26 06:14:17 Worker 0 WARNING object_manager.py:1238] Could not find object objawasher_43e7ebcba34645448a997c3d03054d33_1_0_5 in scene +[05/26 06:14:17 Worker 0 WARNING object_manager.py:1238] Could not find object objasealanttube_75f15adc55404069bf598155d12d0ebd_1_0_5 in scene +[05/26 06:14:17 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativepanel_a17676f45b3d483c9dc1910a2eb17269_1_0_7 in scene +[2026-05-26 06:16:06,067] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:16:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:22:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 5541 episode 0 object objainvitationcard_e73597e02fef49fd988cbda0d6abe53b_1_0_8 completed with success=False +[05/26 06:22:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5541: 1 episodes +[05/26 06:22:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:22:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:22:08 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5541 +[05/26 06:22:08 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5541 in 3.01s (batch: 2.89s, save: 0.12s) +[05/26 06:22:08 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5541 +[05/26 06:22:08 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5541: 0/1 successful episodes +[05/26 06:22:08 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses +[05/26 06:22:09 INFO pipeline.py:1496] Completed 35 houses, skipped 0 houses +[05/26 06:22:09 INFO pipeline.py:1499] Success count: 0, Total count: 39 +[05/26 06:22:09 INFO pipeline.py:1500] Success rate: 0.00% +Combined 39 episodes from 35 files → /tmp/tmpqpngflxq.h5 + +Saved → /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/results.csv at-end: 0.0% | oracle: 0.0% of 39 episodes +[2026-05-26 06:22:14,689] INFO MolmoSpaces simulator eval finished: success=0/39 rate=0.0000 output=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval +[2026-05-26 06:22:14,690] INFO Benchmark CSV: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/results.csv + +Submission artifacts ready: + CSV : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/submission/results.csv + Bundle zip : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/submission_bundle.zip + Summary : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/submission/summary.json + Full eval output : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval + Repro command : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/run_command.sh diff --git a/pnp_v2/pnp_v2/shards/shard_02/run.log b/pnp_v2/pnp_v2/shards/shard_02/run.log new file mode 100644 index 0000000000000000000000000000000000000000..ddd0db05ac7b7d4b642e3250b6a7be4a097720b7 --- /dev/null +++ b/pnp_v2/pnp_v2/shards/shard_02/run.log @@ -0,0 +1,1408 @@ +[2026-05-26 01:03:53,183] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath'] +[2026-05-26 01:03:53,257] INFO Selected MuJoCo backend: egl +[2026-05-26 01:03:53,269] INFO Using MolmoSpaces benchmark: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 (source=arg) +[2026-05-26 01:03:56,049] INFO No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +[nltk_data] Downloading package wordnet to /home/yuanpei/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /home/yuanpei/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +[2026-05-26 01:04:18,740] INFO ResourceManager (R2RemoteStorage('https://pub-3555e9bb2d304fab9c6c79819e48aa40.r2.dev')) using: + symlink_dir=/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets + cache_dir=/home/yuanpei/.cache/molmo-spaces-resources + force_install=True +/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py:129: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +[2026-05-26 01:04:48,845] INFO Requested MolmoSpaces simulator cameras: ['droid_shoulder_light_randomization', 'wrist_camera_zed_mini'] +[2026-05-26 01:04:48,848] INFO Using save_video_sensors=['__none__'] +[2026-05-26 01:04:52,542] INFO Resolved MolmoSpaces action semantics from checkpoint: source=pnp_next_to_v2 type=molmo_raw arm_action_key=joint_pos_rel gripper_action_key=joint_pos action_type=joint_pos_rel arm_command_mode=joint_rel_position +[2026-05-26 01:04:52,644] INFO Using explicit task_horizon override: 450 steps +[05/26 01:04:52 INFO pipeline.py:677] WandB logging disabled (environment variables not set) +[2026-05-26 01:04:52,697] INFO JsonEvalRunner initialized: 35 houses, 39 episodes from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 01:04:52 INFO pipeline.py:1279] Starting house-by-house rollout of 35 houses with 2 episodes each (70 total episodes) using 1 worker processes +[05/26 01:04:52 INFO pipeline.py:1286] Evaluation configuration: +[05/26 01:04:52 INFO pipeline.py:1287] {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['droid_shoulder_light_randomization', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 'wan_molmobot_franka', + 'obs_camera_name': 'droid_shoulder_light_randomization', + 'obs_image_key': 'rgb_head', + 'obs_state_key': 'robot_state', + 'obs_wrist_camera_name': 'wrist_camera_zed_mini', + 'obs_wrist_image_key': 'rgb_wrist', + 'policy_cls': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [3935, + 3954, + 3992, + 4025, + 4085, + 4150, + 4231, + 4290, + 4334, + 4350, + 4383, + 4425, + 4500, + 4549, + 4615, + 4661, + 4705, + 4745, + 4781, + 4783, + 4809, + 4870, + 4947, + 4986, + 5045, + 5059, + 5128, + 5169, + 5232, + 5297, + 5384, + 5431, + 5474, + 5505, + 5541], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} +[2026-05-26 01:04:52,720] INFO Saved experiment configuration to /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452 +[05/26 01:04:52 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler +[05/26 01:04:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/26 01:04:52 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler +[05/26 01:04:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3935 (index 0/35) +[05/26 01:04:52 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 3935 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 01:04:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +[05/26 01:05:16 Worker 0 WARNING object_manager.py:1238] Could not find object objamarkerstand_4b59e422673a438685b77375029f7926_1_0_5 in scene +[05/26 01:05:16 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeemblem_f22bbabd422c43ccba260d2f43bd7d80_1_0_5 in scene +2026-05-26 01:05:17.833 | INFO | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0 +[2026-05-26 01:05:44,336] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k) +[2026-05-26 01:05:46,017] INFO [timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k] Safe alternative available for 'pytorch_model.bin' (as 'model.safetensors'). Loading weights using safetensors. +[2026-05-26 01:07:40,727] INFO Number of parameters in DiT: 1.821428e+07 +[2026-05-26 01:07:58,408] INFO Loaded generic psi-policy checkpoint | target=psi_policy.policy.psi_policy.PsiPolicy | obs_keys=['rgb_head', 'rgb_wrist', 'robot_state', 'text_context'] | action_horizon=16 | action_dim=8 +[2026-05-26 01:07:58,411] INFO Loaded MolmoSpaces policy | checkpoint=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt | target=psi_policy.policy.psi_policy.PsiPolicy | device=cuda:0 | action_chunk_size=8 +[05/26 01:08:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:14:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 3935 episode 0 object objapackagedfood_47feb02b3b2b4f2e8c7154d3682817a2_1_0_6 completed with success=False +[05/26 01:14:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +[05/26 01:16:16 Worker 0 WARNING object_manager.py:1238] Could not find object objamarkerstand_4b59e422673a438685b77375029f7926_1_0_5 in scene +[05/26 01:16:16 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeemblem_f22bbabd422c43ccba260d2f43bd7d80_1_0_5 in scene +[05/26 01:20:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 3935 episode 1 object objacompass_8de466ea26ab43cdadcf67d86344052a_1_0_4 completed with success=False +[05/26 01:20:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3935: 2 episodes +[05/26 01:20:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:20:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:20:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:20:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:20:51 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_3935 +[05/26 01:20:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3935 in 9.01s (batch: 8.64s, save: 0.36s) +[05/26 01:20:52 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3935 +[05/26 01:20:52 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3935: 0/2 successful episodes +[05/26 01:20:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3954 (index 1/35) +[05/26 01:20:52 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3954 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 01:20:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/7 [00:00 does not support tracking retries. +[05/26 01:22:04 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:25:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 3954 episode 0 object Irishpotato_361f25dfd6f7907d2065fffb6e0c6649_1_0_2 completed with success=False +[05/26 01:25:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3954: 1 episodes +[05/26 01:25:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:25:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:25:12 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_3954 +[05/26 01:25:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3954 in 2.39s (batch: 2.30s, save: 0.09s) +[05/26 01:25:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3954 +[05/26 01:25:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3954: 0/1 successful episodes +[05/26 01:25:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3992 (index 2/35) +[05/26 01:25:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3992 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 01:25:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/26 01:30:44 Worker 0 WARNING object_manager.py:1238] Could not find object objasyringe_0720be3e0ae84b319e90e6c7986e27dd_1_0_4 in scene +[05/26 01:30:44 Worker 0 WARNING object_manager.py:1238] Could not find object plate_3a462adb63be096cddd3c836fdb52686_1_0_4 in scene +[05/26 01:30:44 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaper_903ed803932340b19104cf5232c5dcc4_1_0_5 in scene +[05/26 01:30:44 Worker 0 WARNING object_manager.py:1238] Could not find object objasponge_5527fc83613a4653b35a3c1a75bee9a5_1_0_5 in scene +[2026-05-26 01:31:46,132] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/huggingface_hub/file_download.py:945: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`. + warnings.warn( +[05/26 01:35:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 3992 episode 0 object objaclimbingshoe_6612b1e3ee2b4e08952f6bf2b26bd75a_1_0_5 completed with success=False +[05/26 01:36:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3992: 1 episodes +[05/26 01:36:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:36:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:36:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_3992 +[05/26 01:36:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3992 in 3.51s (batch: 3.27s, save: 0.24s) +[05/26 01:36:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3992 +[05/26 01:36:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3992: 0/1 successful episodes +[05/26 01:36:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4025 (index 3/35) +[05/26 01:36:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4025 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 01:36:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[2026-05-26 01:38:27,687] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 01:42:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 4025 episode 0 object objacan_e0976ef0e465417a816b142387f41765_1_0_6 completed with success=False +[05/26 01:42:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4025: 1 episodes +[05/26 01:42:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:42:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:42:24 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4025 +[05/26 01:42:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4025 in 2.84s (batch: 2.66s, save: 0.18s) +[05/26 01:42:25 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4025 +[05/26 01:42:25 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4025: 0/1 successful episodes +[05/26 01:42:25 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4085 (index 4/35) +[05/26 01:42:25 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4085 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 01:42:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/27 [00:00 does not support tracking retries. +[2026-05-26 01:45:26,358] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 01:45:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:47:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 4085 episode 0 object objadecorativetext_55e23bd0f4014b90be7d1a5bc9a69172_1_0_4 completed with success=False +[05/26 01:47:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4085: 1 episodes +[05/26 01:47:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:47:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:47:49 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4085 +[05/26 01:47:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4085 in 2.30s (batch: 2.21s, save: 0.09s) +[05/26 01:47:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4085 +[05/26 01:47:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4085: 0/1 successful episodes +[05/26 01:47:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4150 (index 5/35) +[05/26 01:47:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4150 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 01:47:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/34 [00:00 does not support tracking retries. +[2026-05-26 01:56:32,155] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 01:57:25 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:00:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 4150 episode 0 object objanecklace_b4d304759a1b49849f84e53a31190c7c_1_0_5 completed with success=False +[05/26 02:00:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4150: 1 episodes +[05/26 02:00:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:00:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:00:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4150 +[05/26 02:00:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4150 in 3.48s (batch: 3.35s, save: 0.13s) +[05/26 02:00:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4150 +[05/26 02:00:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4150: 0/1 successful episodes +[05/26 02:00:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4231 (index 6/35) +[05/26 02:00:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4231 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 02:00:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +[2026-05-26 02:02:56,842] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:04:13 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:10:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 4231 episode 0 object objaadjustablewrench_920576578b384b27b5c3e9bf36220c88_1_0_3 completed with success=False +[05/26 02:10:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4231: 1 episodes +[05/26 02:10:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:10:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:10:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4231 +[05/26 02:10:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4231 in 3.96s (batch: 3.78s, save: 0.18s) +[05/26 02:10:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4231 +[05/26 02:10:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4231: 0/1 successful episodes +[05/26 02:10:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4290 (index 7/35) +[05/26 02:10:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4290 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 02:10:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +[05/26 02:10:50 Worker 0 WARNING object_manager.py:1238] Could not find object objametalsign_f46108fac0e4484aa085bdb0123dd7c7_1_0_8 in scene +[2026-05-26 02:12:46,846] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:17:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 4290 episode 0 object objatoytraincar_c5f7b90d80aa4ae18100ed5616179406_1_0_3 completed with success=False +[05/26 02:18:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4290: 1 episodes +[05/26 02:18:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:18:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:18:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4290 +[05/26 02:18:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4290 in 2.83s (batch: 2.70s, save: 0.13s) +[05/26 02:18:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4290 +[05/26 02:18:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4290: 0/1 successful episodes +[05/26 02:18:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4334 (index 8/35) +[05/26 02:18:04 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4334 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 02:18:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[05/26 02:18:23 Worker 0 WARNING object_manager.py:1238] Could not find object objagamingconsole_0b101590f1e34ee39fe7cfeb7264c22d_1_0_7 in scene +[2026-05-26 02:20:16,768] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:20:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:27:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 4334 episode 0 object objadoorlock_3d56a40e1bae492b89072f71651d2d63_1_0_9 completed with success=False +[05/26 02:27:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[05/26 02:27:31 Worker 0 WARNING object_manager.py:1238] Could not find object objagamingconsole_0b101590f1e34ee39fe7cfeb7264c22d_1_0_7 in scene +[2026-05-26 02:29:51,660] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:35:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 4334 episode 1 object objadecorativewand_612582bc490a4353ba468a9839bf9119_1_0_8 completed with success=False +[05/26 02:35:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4334: 2 episodes +[05/26 02:35:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:35:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:35:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:35:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:35:19 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4334 +[05/26 02:35:19 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4334 in 6.35s (batch: 6.10s, save: 0.25s) +[05/26 02:35:20 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4334 +[05/26 02:35:20 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4334: 0/2 successful episodes +[05/26 02:35:20 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4350 (index 9/35) +[05/26 02:35:20 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4350 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 02:35:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +[05/26 02:35:35 Worker 0 WARNING object_manager.py:1238] Could not find object objaspraycan_f761c777f54e414dba0b54dbab6453c7_1_0_5 in scene +[05/26 02:35:35 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +[2026-05-26 02:37:36,136] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:47:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 4350 episode 0 object objatoysword_34640d52951443888e0bb0dc99f993c5_1_0_3 completed with success=False +[05/26 02:47:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4350: 1 episodes +[05/26 02:47:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:47:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:47:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4350 +[05/26 02:47:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4350 in 3.31s (batch: 3.18s, save: 0.13s) +[05/26 02:47:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4350 +[05/26 02:47:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4350: 0/1 successful episodes +[05/26 02:47:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4383 (index 10/35) +[05/26 02:47:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4383 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 02:47:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +[2026-05-26 02:49:46,117] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:50:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:57:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 4383 episode 0 object Irishpotato_19522f313a33f0a662dcc0b1aa19547c_1_0_2 completed with success=False +[05/26 02:57:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4383: 1 episodes +[05/26 02:57:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:57:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:57:12 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4383 +[05/26 02:57:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4383 in 3.79s (batch: 3.62s, save: 0.17s) +[05/26 02:57:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4383 +[05/26 02:57:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4383: 0/1 successful episodes +[05/26 02:57:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4425 (index 11/35) +[05/26 02:57:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4425 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 02:57:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +[05/26 02:57:35 Worker 0 WARNING object_manager.py:1238] Could not find object objaartifact_fc122506e9fb4919abd5e3b5876747a4_1_0_5 in scene +[05/26 02:57:35 Worker 0 WARNING object_manager.py:1238] Could not find object objamat_e0b2b8107ba5450298811782f875ee25_1_0_5 in scene +[2026-05-26 03:00:17,631] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:10:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 4425 episode 0 object objadecorativeelement_4b009fce74c64110b521f91692a4867f_1_0_2 completed with success=False +[05/26 03:10:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4425: 1 episodes +[05/26 03:10:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:10:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:10:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4425 +[05/26 03:10:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4425 in 4.16s (batch: 3.97s, save: 0.19s) +[05/26 03:10:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4425 +[05/26 03:10:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4425: 0/1 successful episodes +[05/26 03:10:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4500 (index 12/35) +[05/26 03:10:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4500 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 03:10:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +[2026-05-26 03:12:58,867] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:14:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:17:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 4500 episode 0 object objasymbol_5742a3cd3a124f88bb061418ddc6db2b_1_0_2 completed with success=False +[05/26 03:17:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4500: 1 episodes +[05/26 03:17:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:17:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:17:52 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4500 +[05/26 03:17:52 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4500 in 4.08s (batch: 3.81s, save: 0.27s) +[05/26 03:17:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4500 +[05/26 03:17:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4500: 0/1 successful episodes +[05/26 03:17:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4549 (index 13/35) +[05/26 03:17:53 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4549 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 03:17:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +[2026-05-26 03:20:06,684] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:20:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:23:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 4549 episode 0 object objalever_5d821ac7148240c092c4face44c1d096_1_0_2 completed with success=False +[05/26 03:23:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4549: 1 episodes +[05/26 03:23:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:23:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:23:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4549 +[05/26 03:23:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4549 in 3.07s (batch: 2.93s, save: 0.14s) +[05/26 03:23:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4549 +[05/26 03:23:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4549: 0/1 successful episodes +[05/26 03:23:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4615 (index 14/35) +[05/26 03:23:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4615 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 03:23:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/24 [00:00 does not support tracking retries. +[2026-05-26 03:24:44,091] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:29:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 4615 episode 0 object objatrowel_41e5faac18994f0b9f14a515e9662354_1_0_7 completed with success=False +[05/26 03:29:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4615: 1 episodes +[05/26 03:29:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:29:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:29:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4615 +[05/26 03:29:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4615 in 3.71s (batch: 3.50s, save: 0.21s) +[05/26 03:29:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4615 +[05/26 03:29:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4615: 0/1 successful episodes +[05/26 03:29:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4661 (index 15/35) +[05/26 03:29:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4661 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 03:29:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/59 [00:00 does not support tracking retries. +[05/26 03:29:56 Worker 0 WARNING object_manager.py:1238] Could not find object objamodelhouse_46a06fe6dbbe4be6999c5c51dde9ec4b_1_0_5 in scene +[05/26 03:29:56 Worker 0 WARNING object_manager.py:1238] Could not find object objajewelry_5d13ef83fc9f496fb99b97e4f0e5e610_1_0_5 in scene +[05/26 03:29:56 Worker 0 WARNING object_manager.py:1238] Could not find object candle_fe12fa900f50b1f2dcab659cebcf492b_1_0_5 in scene +[2026-05-26 03:32:07,168] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:39:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 4661 episode 0 object objawalkietalkie_8b08a40f337644cb8ceef52be1eb824f_1_0_6 completed with success=False +[05/26 03:39:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4661: 1 episodes +[05/26 03:39:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:39:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:39:20 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4661 +[05/26 03:39:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4661 in 3.87s (batch: 3.56s, save: 0.32s) +[05/26 03:39:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4661 +[05/26 03:39:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4661: 0/1 successful episodes +[05/26 03:39:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4705 (index 16/35) +[05/26 03:39:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4705 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 03:39:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/58 [00:00 does not support tracking retries. +[2026-05-26 03:41:50,223] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:42:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:46:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 4705 episode 0 object objahandtool_61b9c84deee940f1bf2c6125f96c40e5_1_0_2 completed with success=False +[05/26 03:46:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4705: 1 episodes +[05/26 03:46:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:46:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:46:15 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4705 +[05/26 03:46:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4705 in 2.71s (batch: 2.58s, save: 0.13s) +[05/26 03:46:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4705 +[05/26 03:46:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4705: 0/1 successful episodes +[05/26 03:46:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4745 (index 17/35) +[05/26 03:46:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4745 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 03:46:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +[05/26 03:46:37 Worker 0 WARNING object_manager.py:1238] Could not find object objatoyflower_e1001602762642cca0ff1651da592cdd_1_0_8 in scene +[05/26 03:46:37 Worker 0 WARNING object_manager.py:1238] Could not find object alarmclock_92c4e6e47495ff6cf76dac0aa793f1e6_1_0_8 in scene +[2026-05-26 03:48:23,984] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:49:48 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:55:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 4745 episode 0 object objainsect_b6dbcdac7cc34379b22ff3099fa4bf5a_1_0_7 completed with success=False +[05/26 03:55:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4745: 1 episodes +[05/26 03:55:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:55:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:55:39 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4745 +[05/26 03:55:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4745 in 3.04s (batch: 2.95s, save: 0.09s) +[05/26 03:55:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4745 +[05/26 03:55:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4745: 0/1 successful episodes +[05/26 03:55:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4781 (index 18/35) +[05/26 03:55:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4781 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 03:55:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/39 [00:00 does not support tracking retries. +[2026-05-26 03:57:45,326] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:58:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:04:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 4781 episode 0 object objadecorativebell_82a59a8d2fed401ea8a9681ce7cfc3b0_1_0_4 completed with success=False +[05/26 04:04:56 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4781: 1 episodes +[05/26 04:04:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:04:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:04:59 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4781 +[05/26 04:04:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4781 in 3.33s (batch: 3.18s, save: 0.15s) +[05/26 04:05:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4781 +[05/26 04:05:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4781: 0/1 successful episodes +[05/26 04:05:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4783 (index 19/35) +[05/26 04:05:00 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4783 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 04:05:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +[2026-05-26 04:06:34,918] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:11:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 4783 episode 0 object objadisc_5766095a480e444da6185a24f8f17840_1_0_2 completed with success=False +[05/26 04:11:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +[2026-05-26 04:14:01,065] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:15:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:22:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 4783 episode 1 object objaalarmclock_71ab3427ad1142718af2ee8feb85c5fd_1_0_2 completed with success=False +[05/26 04:22:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4783: 2 episodes +[05/26 04:22:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:22:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:22:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:22:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:22:24 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4783 +[05/26 04:22:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4783 in 4.91s (batch: 4.73s, save: 0.18s) +[05/26 04:22:25 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4783 +[05/26 04:22:25 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4783: 0/2 successful episodes +[05/26 04:22:25 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4809 (index 20/35) +[05/26 04:22:25 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4809 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 04:22:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/26 04:22:39 Worker 0 WARNING object_manager.py:1238] Could not find object laptop_63fbcd680e0db93dfb0454951f2114f3_1_0_6 in scene +[05/26 04:22:39 Worker 0 WARNING object_manager.py:1238] Could not find object objametalrod_6163f82aa93d4eaeb3acd9909e1f40f0_1_0_6 in scene +[05/26 04:22:39 Worker 0 WARNING object_manager.py:1238] Could not find object vase_d568e4c5c2948c69c05d527517276b06_2_0_7 in scene +[2026-05-26 04:24:09,048] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:28:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 4809 episode 0 object objaguitareffectspedal_083eb9b9eb564701820d3a79377c77ce_1_0_5 completed with success=False +[05/26 04:28:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4809: 1 episodes +[05/26 04:28:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:28:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:28:59 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4809 +[05/26 04:28:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4809 in 3.41s (batch: 3.25s, save: 0.16s) +[05/26 04:29:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4809 +[05/26 04:29:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4809: 0/1 successful episodes +[05/26 04:29:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4870 (index 21/35) +[05/26 04:29:00 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4870 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 04:29:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[2026-05-26 04:31:08,356] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:32:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:35:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 4870 episode 0 object objacandle_a4849fae6e164623a7883695426daa50_1_0_5 completed with success=False +[05/26 04:35:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4870: 1 episodes +[05/26 04:35:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:35:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:35:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4870 +[05/26 04:35:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4870 in 3.13s (batch: 3.02s, save: 0.11s) +[05/26 04:35:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4870 +[05/26 04:35:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4870: 0/1 successful episodes +[05/26 04:35:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4947 (index 22/35) +[05/26 04:35:35 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4947 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 04:35:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +[2026-05-26 04:36:48,643] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:39:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 4947 episode 0 object objaneedlenosepliers_0079418517784f2bbf0aec6fd8de3cde_1_0_2 completed with success=False +[05/26 04:39:35 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4947: 1 episodes +[05/26 04:39:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:39:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:39:38 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4947 +[05/26 04:39:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4947 in 2.71s (batch: 2.56s, save: 0.15s) +[05/26 04:39:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4947 +[05/26 04:39:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4947: 0/1 successful episodes +[05/26 04:39:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4986 (index 23/35) +[05/26 04:39:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4986 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 04:39:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +[05/26 04:39:53 Worker 0 WARNING object_manager.py:1238] Could not find object objatoybomb_1631526a79b44d3a96382b1802a59fb7_1_0_6 in scene +[05/26 04:39:53 Worker 0 WARNING object_manager.py:1238] Could not find object vase_e3478e74916159222cb33c5c329dc2b8_1_0_6 in scene +[05/26 04:39:53 Worker 0 WARNING object_manager.py:1238] Could not find object objapapertowelroll_d62583f82dfe46f0a8a8255d35a6de62_1_0_7 in scene +[05/26 04:39:53 Worker 0 WARNING object_manager.py:1238] Could not find object objasoap_539c979c75b34576b75f3383e96eadb5_1_0_7 in scene +[05/26 04:39:53 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativescript_698f49c7bedb4fc3a5777a9f4edcc5bc_1_0_8 in scene +[05/26 04:39:53 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_8 in scene +[2026-05-26 04:41:08,987] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:41:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:46:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 4986 episode 0 object objahourglass_e278f37f71ac4e2e980c6ef53899c2d7_1_0_9 completed with success=False +[05/26 04:46:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4986: 1 episodes +[05/26 04:46:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:46:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:46:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4986 +[05/26 04:46:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4986 in 2.54s (batch: 2.39s, save: 0.15s) +[05/26 04:46:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4986 +[05/26 04:46:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4986: 0/1 successful episodes +[05/26 04:46:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5045 (index 24/35) +[05/26 04:46:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5045 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 04:46:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +[05/26 04:46:35 Worker 0 WARNING object_manager.py:1238] Could not find object objaframedportrait_117946e14b8545a69e962fce2b8a5022_1_0_8 in scene +[05/26 04:46:35 Worker 0 WARNING object_manager.py:1238] Could not find object laptop_63fbcd680e0db93dfb0454951f2114f3_1_0_8 in scene +[2026-05-26 04:48:26,437] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:53:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 5045 episode 0 object objataxidermybird_843000ec4e604edbaa76946cd1a89501_1_0_2 completed with success=False +[05/26 04:53:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5045: 1 episodes +[05/26 04:53:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:53:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:53:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5045 +[05/26 04:53:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5045 in 2.79s (batch: 2.66s, save: 0.13s) +[05/26 04:53:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5045 +[05/26 04:53:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5045: 0/1 successful episodes +[05/26 04:53:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5059 (index 25/35) +[05/26 04:53:11 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 5059 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 04:53:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +[2026-05-26 04:54:30,905] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:54:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:01:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 5059 episode 0 object objahandmirror_a3348d3e4a674350af738e8cf20ec378_1_0_5 completed with success=False +[05/26 05:01:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +[2026-05-26 05:03:29,100] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:04:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:07:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 5059 episode 1 object objascopemount_97d5328f85dd40cfaec1aed7a00164f3_1_0_4 completed with success=False +[05/26 05:07:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5059: 2 episodes +[05/26 05:07:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:07:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:07:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:07:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:07:35 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5059 +[05/26 05:07:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5059 in 6.55s (batch: 6.31s, save: 0.24s) +[05/26 05:07:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5059 +[05/26 05:07:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5059: 0/2 successful episodes +[05/26 05:07:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5128 (index 26/35) +[05/26 05:07:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5128 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 05:07:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +[05/26 05:07:48 Worker 0 WARNING object_manager.py:1238] Could not find object objajewelry_5d13ef83fc9f496fb99b97e4f0e5e610_1_0_3 in scene +[05/26 05:07:48 Worker 0 WARNING object_manager.py:1238] Could not find object objaexternalharddrive_fd2d9721dc3a4fc6841e38f30fbad6c0_1_0_3 in scene +[05/26 05:07:48 Worker 0 WARNING object_manager.py:1238] Could not find object objatoothmodel_7e325316ef424bc6b71ee680528b6eeb_1_0_4 in scene +[05/26 05:07:48 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturetrafficlight_30f361478c8143fbb463dcf9b2a0cb61_1_0_4 in scene +[2026-05-26 05:10:04,527] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:11:49 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:16:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 5128 episode 0 object objahandtool_7985f67d4f204df78904cd50b73cbf0f_1_0_2 completed with success=False +[05/26 05:16:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5128: 1 episodes +[05/26 05:16:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:16:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:16:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5128 +[05/26 05:16:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5128 in 3.02s (batch: 2.88s, save: 0.14s) +[05/26 05:16:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5128 +[05/26 05:16:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5128: 0/1 successful episodes +[05/26 05:16:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5169 (index 27/35) +[05/26 05:16:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5169 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 05:16:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/9 [00:00 does not support tracking retries. +[2026-05-26 05:19:07,593] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:22:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 5169 episode 0 object objapipecutter_9113b144802144b683d8db86f7d7388c_2_0_2 completed with success=False +[05/26 05:22:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5169: 1 episodes +[05/26 05:22:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:22:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:22:29 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5169 +[05/26 05:22:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5169 in 3.12s (batch: 2.99s, save: 0.13s) +[05/26 05:22:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5169 +[05/26 05:22:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5169: 0/1 successful episodes +[05/26 05:22:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5232 (index 28/35) +[05/26 05:22:30 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5232 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 05:22:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +[2026-05-26 05:24:46,797] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:26:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:33:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 5232 episode 0 object objadomino_c97ea56f249340cea90c4f66e84108dc_1_0_7 completed with success=False +[05/26 05:33:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5232: 1 episodes +[05/26 05:33:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:33:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:33:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5232 +[05/26 05:33:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5232 in 3.56s (batch: 3.31s, save: 0.25s) +[05/26 05:33:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5232 +[05/26 05:33:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5232: 0/1 successful episodes +[05/26 05:33:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5297 (index 29/35) +[05/26 05:33:57 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5297 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 05:33:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +[2026-05-26 05:36:13,639] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:40:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 5297 episode 0 object objadecorativechain_920dd47d98484df4a23b8dee1b378c6a_1_0_7 completed with success=False +[05/26 05:40:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5297: 1 episodes +[05/26 05:40:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:41:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:41:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5297 +[05/26 05:41:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5297 in 3.04s (batch: 2.92s, save: 0.12s) +[05/26 05:41:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5297 +[05/26 05:41:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5297: 0/1 successful episodes +[05/26 05:41:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5384 (index 30/35) +[05/26 05:41:02 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5384 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 05:41:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +[05/26 05:41:11 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingpanel_8bde878be8dd4fb7b6914db9c4dd31bb_1_0_4 in scene +[2026-05-26 05:43:21,401] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:50:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 5384 episode 0 object objavintagecamera_0e0b88c0baf8434fbd236ee93dc8d107_1_0_6 completed with success=False +[05/26 05:50:46 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5384: 1 episodes +[05/26 05:50:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:50:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:50:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5384 +[05/26 05:50:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5384 in 3.76s (batch: 3.61s, save: 0.16s) +[05/26 05:50:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5384 +[05/26 05:50:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5384: 0/1 successful episodes +[05/26 05:50:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5431 (index 31/35) +[05/26 05:50:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5431 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 05:50:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/24 [00:00 does not support tracking retries. +[2026-05-26 05:53:05,419] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:54:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:58:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 5431 episode 0 object objadeskcalendar_c0ddec650d304adbb5d6730f43205dda_1_0_7 completed with success=False +[05/26 05:58:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5431: 1 episodes +[05/26 05:58:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:58:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:58:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5431 +[05/26 05:58:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5431 in 3.18s (batch: 2.99s, save: 0.19s) +[05/26 05:58:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5431 +[05/26 05:58:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5431: 0/1 successful episodes +[05/26 05:58:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5474 (index 32/35) +[05/26 05:58:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5474 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 05:58:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/24 [00:00 does not support tracking retries. +[2026-05-26 06:00:10,328] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:00:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:02:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 5474 episode 0 object objatradingcard_90d980fb471f440aa1d16866c79c61f7_1_0_6 completed with success=False +[05/26 06:02:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5474: 1 episodes +[05/26 06:02:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:02:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:02:57 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5474 +[05/26 06:02:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5474 in 2.70s (batch: 2.57s, save: 0.14s) +[05/26 06:02:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5474 +[05/26 06:02:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5474: 0/1 successful episodes +[05/26 06:02:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5505 (index 33/35) +[05/26 06:02:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5505 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 06:02:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/44 [00:00 does not support tracking retries. +[05/26 06:03:10 Worker 0 WARNING object_manager.py:1238] Could not find object objadentures_9f8a86701e5549c6bf6004b4f58bdd31_1_0_5 in scene +[05/26 06:03:10 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_7 in scene +[05/26 06:03:10 Worker 0 WARNING object_manager.py:1238] Could not find object objatoyrocket_b9bdbba91b454caa8f8c82b946ded428_1_0_8 in scene +[05/26 06:03:10 Worker 0 WARNING object_manager.py:1238] Could not find object objacomputermouse_c4c6d54694f3481eb60235314cbf2dc9_1_0_8 in scene +[2026-05-26 06:05:00,284] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:06:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:13:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 5505 episode 0 object objawoodencarving_6589b07c9b2d49778e08d7e6110c04c6_1_0_9 completed with success=False +[05/26 06:14:04 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5505: 1 episodes +[05/26 06:14:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:14:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:14:07 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5505 +[05/26 06:14:07 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5505 in 3.25s (batch: 3.12s, save: 0.13s) +[05/26 06:14:08 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5505 +[05/26 06:14:08 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5505: 0/1 successful episodes +[05/26 06:14:08 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5541 (index 34/35) +[05/26 06:14:08 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5541 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 06:14:08 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +[05/26 06:14:17 Worker 0 WARNING object_manager.py:1238] Could not find object objawasher_43e7ebcba34645448a997c3d03054d33_1_0_5 in scene +[05/26 06:14:17 Worker 0 WARNING object_manager.py:1238] Could not find object objasealanttube_75f15adc55404069bf598155d12d0ebd_1_0_5 in scene +[05/26 06:14:17 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativepanel_a17676f45b3d483c9dc1910a2eb17269_1_0_7 in scene +[2026-05-26 06:16:06,067] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:16:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:22:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 5541 episode 0 object objainvitationcard_e73597e02fef49fd988cbda0d6abe53b_1_0_8 completed with success=False +[05/26 06:22:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5541: 1 episodes +[05/26 06:22:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:22:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:22:08 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5541 +[05/26 06:22:08 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5541 in 3.01s (batch: 2.89s, save: 0.12s) +[05/26 06:22:08 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5541 +[05/26 06:22:08 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5541: 0/1 successful episodes +[05/26 06:22:08 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses +[05/26 06:22:09 INFO pipeline.py:1496] Completed 35 houses, skipped 0 houses +[05/26 06:22:09 INFO pipeline.py:1499] Success count: 0, Total count: 39 +[05/26 06:22:09 INFO pipeline.py:1500] Success rate: 0.00% +Combined 39 episodes from 35 files → /tmp/tmpqpngflxq.h5 + +Saved → /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/results.csv at-end: 0.0% | oracle: 0.0% of 39 episodes +[2026-05-26 06:22:14,689] INFO MolmoSpaces simulator eval finished: success=0/39 rate=0.0000 output=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval +[2026-05-26 06:22:14,690] INFO Benchmark CSV: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/results.csv diff --git a/pnp_v2/pnp_v2/shards/shard_02/run_command.sh b/pnp_v2/pnp_v2/shards/shard_02/run_command.sh new file mode 100644 index 0000000000000000000000000000000000000000..9dbe39b4bc240131c29644f67e69331082341764 --- /dev/null +++ b/pnp_v2/pnp_v2/shards/shard_02/run_command.sh @@ -0,0 +1,4 @@ +#!/usr/bin/env bash +set -euo pipefail +cd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy +conda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament diff --git a/pnp_v2/pnp_v2/shards/shard_03.launcher.log b/pnp_v2/pnp_v2/shards/shard_03.launcher.log new file mode 100644 index 0000000000000000000000000000000000000000..e4d89991a0d3e11df4dafcda99b1d132e4f35f48 --- /dev/null +++ b/pnp_v2/pnp_v2/shards/shard_03.launcher.log @@ -0,0 +1,1488 @@ +================================================================================ +Official MolmoSpaces Submission Run +================================================================================ +Checkpoint : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt +Benchmark dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +Output root : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03 +Eval output dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval +Submission dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/submission +Conda env : molmospace +Policy name : latest +Policy device : cuda:0 +Text embedding device : cpu +Prompt cache dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan +Workers : 1 +Task horizon steps : 450 +Action chunk size : 8 +Obs camera : droid_shoulder_light_randomization +Obs wrist camera : wrist_camera_zed_mini +Camera names : droid_shoulder_light_randomization wrist_camera_zed_mini +Preview camera names : droid_shoulder_light_randomization +End on success : 1 +Visualization : 0 +Save raw videos : 0 +Save video sensors : __none__ +Success condition (CSV) : both + +Official runner : molmo_spaces.evaluation.run_evaluation() +CSV exporter : molmospaces/scripts/benchmarks/eval_to_csv.py + +Command +conda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament +================================================================================ +[2026-05-26 01:03:53,329] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath'] +[2026-05-26 01:03:53,437] INFO Selected MuJoCo backend: egl +[2026-05-26 01:03:53,471] INFO Using MolmoSpaces benchmark: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 (source=arg) +[2026-05-26 01:03:56,384] INFO No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +[nltk_data] Downloading package wordnet to /home/yuanpei/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /home/yuanpei/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +[2026-05-26 01:04:09,361] INFO ResourceManager (R2RemoteStorage('https://pub-3555e9bb2d304fab9c6c79819e48aa40.r2.dev')) using: + symlink_dir=/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets + cache_dir=/home/yuanpei/.cache/molmo-spaces-resources + force_install=True +/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py:129: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +[2026-05-26 01:04:36,985] INFO Requested MolmoSpaces simulator cameras: ['droid_shoulder_light_randomization', 'wrist_camera_zed_mini'] +[2026-05-26 01:04:36,989] INFO Using save_video_sensors=['__none__'] +[2026-05-26 01:04:40,882] INFO Resolved MolmoSpaces action semantics from checkpoint: source=pnp_next_to_v2 type=molmo_raw arm_action_key=joint_pos_rel gripper_action_key=joint_pos action_type=joint_pos_rel arm_command_mode=joint_rel_position +[2026-05-26 01:04:40,909] INFO Using explicit task_horizon override: 450 steps +[05/26 01:04:41 INFO pipeline.py:677] WandB logging disabled (environment variables not set) +[2026-05-26 01:04:41,001] INFO JsonEvalRunner initialized: 35 houses, 39 episodes from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 01:04:41 INFO pipeline.py:1279] Starting house-by-house rollout of 35 houses with 2 episodes each (70 total episodes) using 1 worker processes +[05/26 01:04:41 INFO pipeline.py:1286] Evaluation configuration: +[05/26 01:04:41 INFO pipeline.py:1287] {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['droid_shoulder_light_randomization', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 'wan_molmobot_franka', + 'obs_camera_name': 'droid_shoulder_light_randomization', + 'obs_image_key': 'rgb_head', + 'obs_state_key': 'robot_state', + 'obs_wrist_camera_name': 'wrist_camera_zed_mini', + 'obs_wrist_image_key': 'rgb_wrist', + 'policy_cls': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [3956, + 3970, + 3993, + 4030, + 4086, + 4156, + 4236, + 4292, + 4357, + 4375, + 4384, + 4429, + 4502, + 4550, + 4618, + 4668, + 4710, + 4747, + 4786, + 4788, + 4815, + 4871, + 4953, + 5002, + 5057, + 5132, + 5142, + 5174, + 5237, + 5314, + 5387, + 5435, + 5479, + 5508, + 5543], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} +[2026-05-26 01:04:41,017] INFO Saved experiment configuration to /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440 +[05/26 01:04:41 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler +[05/26 01:04:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/26 01:04:41 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler +[05/26 01:04:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3956 (index 0/35) +[05/26 01:04:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3956 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 01:04:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +2026-05-26 01:06:10.308 | INFO | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0 +[2026-05-26 01:06:45,280] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k) +[2026-05-26 01:06:46,274] INFO [timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k] Safe alternative available for 'pytorch_model.bin' (as 'model.safetensors'). Loading weights using safetensors. +[2026-05-26 01:08:50,484] INFO Number of parameters in DiT: 1.821428e+07 +[2026-05-26 01:09:03,882] INFO Loaded generic psi-policy checkpoint | target=psi_policy.policy.psi_policy.PsiPolicy | obs_keys=['rgb_head', 'rgb_wrist', 'robot_state', 'text_context'] | action_horizon=16 | action_dim=8 +[2026-05-26 01:09:03,887] INFO Loaded MolmoSpaces policy | checkpoint=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt | target=psi_policy.policy.psi_policy.PsiPolicy | device=cuda:0 | action_chunk_size=8 +[05/26 01:09:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:13:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 3956 episode 0 object objawallet_284753c433144278b333b617615d6b3a_1_0_2 completed with success=False +[05/26 01:13:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3956: 1 episodes +[05/26 01:13:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:13:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:13:19 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_3956 +[05/26 01:13:19 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3956 in 4.50s (batch: 4.18s, save: 0.32s) +[05/26 01:13:20 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3956 +[05/26 01:13:20 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3956: 0/1 successful episodes +[05/26 01:13:20 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3970 (index 1/35) +[05/26 01:13:20 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 3970 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 01:13:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +[05/26 01:22:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 3970 episode 0 object objahandmodel_60401d040b8c49e4806ef37a1d399cea_1_0_2 completed with success=False +[05/26 01:22:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +[05/26 01:37:28 Worker 0 ERROR pipeline.py:1164] Worker 0 house 3970 episode 1 rollout error: Timed out waiting for prompt embedding cache: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan/prompt_Pick_up_the_triangular_colorful_patch_with_eye_d_56017b623134.pt, /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan/molmospaces_eval_pick_up_the_triangular_colorful_patch_with_eye_design_and_place_it_in_or_on_the_rectangular_shal.pt +Traceback (most recent call last): + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1095, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/data_generation/pipeline.py", line 820, in run_single_rollout + action_cmd = policy.get_action(observation) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/policy/base_policy.py", line 112, in get_action + model_input = self.obs_to_model_input(observation) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/molmospaces_adapter/policy.py", line 413, in obs_to_model_input + text_context = self._load_text_context(task_description) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/molmospaces_adapter/policy.py", line 565, in _load_text_context + embedding_path = ensure_wan_prompt_embedding( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/model/wan/prompt_embedding.py", line 89, in ensure_wan_prompt_embedding + return _wait_for_prompt_embedding( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/model/wan/prompt_embedding.py", line 390, in _wait_for_prompt_embedding + raise TimeoutError(f"Timed out waiting for prompt embedding cache: {searched}") +TimeoutError: Timed out waiting for prompt embedding cache: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan/prompt_Pick_up_the_triangular_colorful_patch_with_eye_d_56017b623134.pt, /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan/molmospaces_eval_pick_up_the_triangular_colorful_patch_with_eye_design_and_place_it_in_or_on_the_rectangular_shal.pt +[05/26 01:37:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3970: 1 episodes +[05/26 01:37:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:37:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:37:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_3970 +[05/26 01:37:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3970 in 3.38s (batch: 3.18s, save: 0.20s) +[05/26 01:37:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3970 +[05/26 01:37:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3970: 0/1 successful episodes +[05/26 01:37:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3993 (index 2/35) +[05/26 01:37:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3993 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 01:37:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[05/26 01:38:10 Worker 0 WARNING object_manager.py:1238] Could not find object objagardenfork_ce1900ce820a4a419d376d1532e85bcf_1_0_4 in scene +[05/26 01:38:10 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturebuilding_1954e7fb9f324e26973b1d34f5358040_1_0_7 in scene +[05/26 01:38:10 Worker 0 WARNING object_manager.py:1238] Could not find object objalighter_a2db21b57424449f9a2d1aa08e5b0c90_1_0_7 in scene +[2026-05-26 01:40:08,275] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/huggingface_hub/file_download.py:945: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`. + warnings.warn( +[05/26 01:41:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:44:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 3993 episode 0 object objacollar_5f329a75ab1a4890868ba37061ca3396_1_0_7 completed with success=False +[05/26 01:44:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3993: 1 episodes +[05/26 01:44:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:44:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:44:39 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_3993 +[05/26 01:44:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3993 in 2.40s (batch: 2.31s, save: 0.09s) +[05/26 01:44:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3993 +[05/26 01:44:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3993: 0/1 successful episodes +[05/26 01:44:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4030 (index 3/35) +[05/26 01:44:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4030 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 01:44:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 does not support tracking retries. +[2026-05-26 01:55:02,899] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 01:58:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 4030 episode 0 object objatube_747652d3308142278b333f1e2ee13549_1_0_5 completed with success=False +[05/26 01:58:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4030: 1 episodes +[05/26 01:58:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:58:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:58:28 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4030 +[05/26 01:58:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4030 in 2.94s (batch: 2.77s, save: 0.17s) +[05/26 01:58:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4030 +[05/26 01:58:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4030: 0/1 successful episodes +[05/26 01:58:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4086 (index 4/35) +[05/26 01:58:29 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4086 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 01:58:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[2026-05-26 02:00:26,533] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:06:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 4086 episode 0 object objacupcake_dc0c1995690645a4b7016b1c50636bb4_1_0_8 completed with success=False +[05/26 02:06:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4086: 1 episodes +[05/26 02:06:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:06:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:06:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4086 +[05/26 02:06:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4086 in 3.76s (batch: 3.62s, save: 0.14s) +[05/26 02:06:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4086 +[05/26 02:06:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4086: 0/1 successful episodes +[05/26 02:06:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4156 (index 5/35) +[05/26 02:06:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4156 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 02:06:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[05/26 02:07:11 Worker 0 WARNING object_manager.py:1238] Could not find object objacleaningsponge_afd092fac12f4ef8984b80d3d15de232_1_0_5 in scene +[2026-05-26 02:09:17,448] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:10:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:14:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 4156 episode 0 object objadecorativescript_698f49c7bedb4fc3a5777a9f4edcc5bc_1_0_9 completed with success=False +[05/26 02:14:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4156: 1 episodes +[05/26 02:14:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:14:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:14:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4156 +[05/26 02:14:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4156 in 3.74s (batch: 3.62s, save: 0.12s) +[05/26 02:14:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4156 +[05/26 02:14:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4156: 0/1 successful episodes +[05/26 02:14:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4236 (index 6/35) +[05/26 02:14:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4236 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 02:14:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/7 [00:00 does not support tracking retries. +[2026-05-26 02:16:41,297] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:17:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:20:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 4236 episode 0 object objawristwatch_189f8a498b074e28a2b37a099d57fb2b_1_0_2 completed with success=False +[05/26 02:20:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4236: 1 episodes +[05/26 02:20:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:20:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:20:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4236 +[05/26 02:20:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4236 in 3.38s (batch: 3.24s, save: 0.14s) +[05/26 02:20:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4236 +[05/26 02:20:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4236: 0/1 successful episodes +[05/26 02:20:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4292 (index 7/35) +[05/26 02:20:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4292 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 02:20:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +[2026-05-26 02:22:30,537] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:28:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 4292 episode 0 object objadecorativering_f1c609d000e74dcd96fb8b083db2db9c_1_0_8 completed with success=False +[05/26 02:28:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4292: 1 episodes +[05/26 02:28:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:28:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:28:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4292 +[05/26 02:28:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4292 in 4.22s (batch: 4.01s, save: 0.20s) +[05/26 02:28:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4292 +[05/26 02:28:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4292: 0/1 successful episodes +[05/26 02:28:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4357 (index 8/35) +[05/26 02:28:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4357 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 02:28:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +[2026-05-26 02:31:13,150] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:36:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 4357 episode 0 object objadecorativesculpture_b277500749914c1b966438f679587a3d_1_0_9 completed with success=False +[05/26 02:36:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4357: 1 episodes +[05/26 02:36:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:36:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:36:45 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4357 +[05/26 02:36:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4357 in 3.25s (batch: 3.11s, save: 0.13s) +[05/26 02:36:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4357 +[05/26 02:36:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4357: 0/1 successful episodes +[05/26 02:36:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4375 (index 9/35) +[05/26 02:36:46 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4375 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 02:36:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +[05/26 02:36:56 Worker 0 WARNING object_manager.py:1238] Could not find object objaglove_c954a6160ee34548a1b0ea538f3b92dd_1_0_8 in scene +[05/26 02:36:56 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_8 in scene +[2026-05-26 02:38:53,529] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:45:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 4375 episode 0 object objaplayingcard_dad48ec229b640449d29ffc14d5eadbf_1_0_4 completed with success=False +[05/26 02:45:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +[05/26 02:45:51 Worker 0 WARNING object_manager.py:1238] Could not find object objaglove_c954a6160ee34548a1b0ea538f3b92dd_1_0_8 in scene +[05/26 02:45:51 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_8 in scene +[2026-05-26 02:48:03,811] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:49:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:54:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 4375 episode 1 object objafruit_b618ea230ab04d9c8804eebe766a6426_1_0_8 completed with success=False +[05/26 02:54:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4375: 2 episodes +[05/26 02:54:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:54:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:54:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:54:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:54:22 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4375 +[05/26 02:54:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4375 in 7.82s (batch: 7.53s, save: 0.29s) +[05/26 02:54:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4375 +[05/26 02:54:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4375: 0/2 successful episodes +[05/26 02:54:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4384 (index 10/35) +[05/26 02:54:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4384 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 02:54:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/58 [00:00 does not support tracking retries. +[05/26 02:54:37 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingventcover_c56ee3f7d606481bb4aaedc4250b097e_1_0_5 in scene +[05/26 02:54:37 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_8c6e5265f19b49709119c2628c2bdf3f_1_0_5 in scene +[2026-05-26 02:57:04,715] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:58:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:07:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 4384 episode 0 object objagreetingcard_99d51751c64749d68d8da3903cb45194_1_0_3 completed with success=False +[05/26 03:07:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4384: 1 episodes +[05/26 03:07:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:07:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:07:28 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4384 +[05/26 03:07:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4384 in 3.44s (batch: 3.20s, save: 0.23s) +[05/26 03:07:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4384 +[05/26 03:07:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4384: 0/1 successful episodes +[05/26 03:07:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4429 (index 11/35) +[05/26 03:07:29 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4429 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 03:07:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/13 [00:00 does not support tracking retries. +[2026-05-26 03:10:00,952] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:11:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:14:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 4429 episode 0 object objagamingmouse_c7a1a915a0a44a128f9e91e0be1a2316_1_0_3 completed with success=False +[05/26 03:15:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4429: 1 episodes +[05/26 03:15:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:15:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:15:07 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4429 +[05/26 03:15:07 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4429 in 3.68s (batch: 3.51s, save: 0.17s) +[05/26 03:15:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4429 +[05/26 03:15:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4429: 0/1 successful episodes +[05/26 03:15:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4502 (index 12/35) +[05/26 03:15:07 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4502 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 03:15:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +[05/26 03:15:26 Worker 0 WARNING object_manager.py:1238] Could not find object objacleaningsponge_afd092fac12f4ef8984b80d3d15de232_1_0_5 in scene +[05/26 03:15:26 Worker 0 WARNING object_manager.py:1238] Could not find object objaaerosolcan_b6b64dc8ae6049dbba19ae2cef3575bb_1_0_5 in scene +[05/26 03:15:26 Worker 0 WARNING object_manager.py:1238] Could not find object lettuce_78266f6bc320cc73d50a37e54430a582_1_0_6 in scene +[2026-05-26 03:17:03,819] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:18:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:22:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 4502 episode 0 object objaceramiccup_dde060cbc53a40e2ba7ca9353c21fe91_1_0_6 completed with success=False +[05/26 03:22:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4502: 1 episodes +[05/26 03:22:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:22:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:22:45 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4502 +[05/26 03:22:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4502 in 3.13s (batch: 3.01s, save: 0.12s) +[05/26 03:22:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4502 +[05/26 03:22:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4502: 0/1 successful episodes +[05/26 03:22:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4550 (index 13/35) +[05/26 03:22:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4550 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 03:22:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[05/26 03:22:57 Worker 0 WARNING object_manager.py:1238] Could not find object objabirdskull_56816fb55d054bdc9ecd6ea6b35b44c1_1_0_4 in scene +[05/26 03:22:57 Worker 0 WARNING object_manager.py:1238] Could not find object alarmclock_85647c60207a07a17bbd65025ae5d72c_1_0_4 in scene +[05/26 03:22:57 Worker 0 WARNING object_manager.py:1238] Could not find object vase_4686c3634f3334d6f28ba73fcd509a72_1_0_4 in scene +[05/26 03:22:57 Worker 0 WARNING object_manager.py:1238] Could not find object objaclog_b931698a3f5f4fb2a1c27aae7f6120e2_1_0_5 in scene +[05/26 03:22:57 Worker 0 WARNING object_manager.py:1238] Could not find object objatube_65b148a1480846e08e5ce03164d4c012_1_0_5 in scene +[05/26 03:22:57 Worker 0 WARNING object_manager.py:1238] Could not find object objasandwich_b52cc19a3f2042fb981b64e4f910199c_2_0_8 in scene +[05/26 03:22:57 Worker 0 WARNING object_manager.py:1238] Could not find object apple_e4633a6eeab3bd9cfd60227d76a684e8_1_0_8 in scene +[2026-05-26 03:24:01,718] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:24:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:30:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 4550 episode 0 object atomizer_973bce9435d852757b03afc168e4c1df_1_0_8 completed with success=False +[05/26 03:30:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4550: 1 episodes +[05/26 03:30:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:30:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:30:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4550 +[05/26 03:30:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4550 in 3.56s (batch: 3.31s, save: 0.25s) +[05/26 03:30:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4550 +[05/26 03:30:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4550: 0/1 successful episodes +[05/26 03:30:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4618 (index 14/35) +[05/26 03:30:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4618 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 03:30:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 does not support tracking retries. +[05/26 03:30:54 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativestoneplaque_7fc5390ada9e4965ab984dbc1200737a_1_0_5 in scene +[05/26 03:30:54 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_98ad81f9aaa74fe0c8d1de65acb880ca_1_0_5 in scene +[2026-05-26 03:33:00,968] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:34:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:40:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 4618 episode 0 object objashoe_60bc124848d642d49f3ffa9fcdea16b8_1_0_5 completed with success=False +[05/26 03:40:17 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4618: 1 episodes +[05/26 03:40:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:40:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:40:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4618 +[05/26 03:40:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4618 in 3.77s (batch: 3.63s, save: 0.14s) +[05/26 03:40:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4618 +[05/26 03:40:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4618: 0/1 successful episodes +[05/26 03:40:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4668 (index 15/35) +[05/26 03:40:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4668 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 03:40:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/26 03:40:35 Worker 0 WARNING object_manager.py:1238] Could not find object objaseashell_e37e9b7bc8ce44b4af0702e07a549ef6_1_0_5 in scene +[05/26 03:40:35 Worker 0 WARNING object_manager.py:1238] Could not find object objaaerosolcan_6275746374cf4768bbe8d2dcfeefb596_1_0_5 in scene +[2026-05-26 03:42:39,477] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:46:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 4668 episode 0 object objabarcodescanner_88317b5bfc0b4c14a5004c6d109c815b_1_0_4 completed with success=False +[05/26 03:46:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4668: 1 episodes +[05/26 03:46:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:46:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:46:29 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4668 +[05/26 03:46:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4668 in 2.68s (batch: 2.58s, save: 0.10s) +[05/26 03:46:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4668 +[05/26 03:46:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4668: 0/1 successful episodes +[05/26 03:46:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4710 (index 16/35) +[05/26 03:46:29 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4710 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 03:46:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +[05/26 03:46:46 Worker 0 WARNING object_manager.py:1238] Could not find object objanotebook_ca51d5e826594959a3b460e88ccabd0e_1_0_2 in scene +[05/26 03:46:46 Worker 0 WARNING object_manager.py:1238] Could not find object objapaymentterminal_5c6990d5820c40d3b864066504643219_1_0_2 in scene +[05/26 03:46:46 Worker 0 WARNING object_manager.py:1238] Could not find object objabirdmodel_08708444f40949d697340fd8f9d7cbeb_1_0_2 in scene +[05/26 03:46:46 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeobject_8c14ba2dddcb48cb9650e84fb60260e5_1_0_6 in scene +[05/26 03:46:46 Worker 0 WARNING object_manager.py:1238] Could not find object objaspring_1e6a7476f88c475ab5d86d8ac11e1752_2_0_6 in scene +[05/26 03:46:46 Worker 0 WARNING object_manager.py:1238] Could not find object objatissuebox_65d3d9a616c544f2b57f91c23ce4d68b_1_0_6 in scene +[2026-05-26 03:48:35,015] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:05:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 4710 episode 0 object objaspring_310f124af29745708b5393d7197d6fd5_1_0_6 completed with success=False +[05/26 04:05:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4710: 1 episodes +[05/26 04:05:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:05:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:05:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4710 +[05/26 04:05:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4710 in 3.12s (batch: 2.99s, save: 0.13s) +[05/26 04:05:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4710 +[05/26 04:05:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4710: 0/1 successful episodes +[05/26 04:05:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4747 (index 17/35) +[05/26 04:05:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4747 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 04:05:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[2026-05-26 04:07:16,892] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:07:44 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:12:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 4747 episode 0 object objahangingpot_079f67e3d21b4559a5ef90f538d130ab_1_0_2 completed with success=False +[05/26 04:12:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4747: 1 episodes +[05/26 04:12:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:12:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:12:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4747 +[05/26 04:12:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4747 in 3.55s (batch: 3.41s, save: 0.14s) +[05/26 04:12:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4747 +[05/26 04:12:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4747: 0/1 successful episodes +[05/26 04:12:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4786 (index 18/35) +[05/26 04:12:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4786 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 04:12:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/34 [00:00 does not support tracking retries. +[05/26 04:12:29 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene +[05/26 04:12:29 Worker 0 WARNING object_manager.py:1238] Could not find object objamacaron_750737aee1504384a8f8fa9bbe9aab02_3_0_8 in scene +[05/26 04:12:29 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_54a26e582c75bf5352d57ce6ff73c9ef_1_0_8 in scene +[2026-05-26 04:14:38,118] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:16:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:21:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 4786 episode 0 object objadigitalcamera_6149eddd5e0c4cf4a7dcd55bf6d4a4e7_1_0_9 completed with success=False +[05/26 04:21:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4786: 1 episodes +[05/26 04:21:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:21:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:21:49 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4786 +[05/26 04:21:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4786 in 2.80s (batch: 2.65s, save: 0.15s) +[05/26 04:21:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4786 +[05/26 04:21:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4786: 0/1 successful episodes +[05/26 04:21:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4788 (index 19/35) +[05/26 04:21:50 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4788 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 04:21:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[2026-05-26 04:23:12,226] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:23:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:27:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 4788 episode 0 object objalighter_5107e0007fdc4ed08be3f35aff7e5bb2_1_0_5 completed with success=False +[05/26 04:27:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[2026-05-26 04:29:37,630] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:30:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:34:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 4788 episode 1 object objasugarbowl_4cd9d4a7727c440f9b1bff2384bac433_1_0_8 completed with success=False +[05/26 04:34:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4788: 2 episodes +[05/26 04:34:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:34:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:34:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:34:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:34:15 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4788 +[05/26 04:34:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4788 in 5.58s (batch: 5.34s, save: 0.24s) +[05/26 04:34:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4788 +[05/26 04:34:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4788: 0/2 successful episodes +[05/26 04:34:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4815 (index 20/35) +[05/26 04:34:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4815 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 04:34:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 does not support tracking retries. +[2026-05-26 04:35:53,399] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:36:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:38:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 4815 episode 0 object objamechanicalclamp_c1a3633d2e274d369c0e3c4711957a17_1_0_3 completed with success=False +[05/26 04:38:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4815: 1 episodes +[05/26 04:38:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:38:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:38:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4815 +[05/26 04:38:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4815 in 2.55s (batch: 2.43s, save: 0.13s) +[05/26 04:38:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4815 +[05/26 04:38:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4815: 0/1 successful episodes +[05/26 04:38:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4871 (index 21/35) +[05/26 04:38:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4871 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 04:38:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +[05/26 04:39:00 Worker 0 WARNING object_manager.py:1238] Could not find object objaskull_1c828507e2a1477a84beee5b909a5e54_1_0_7 in scene +[05/26 04:39:00 Worker 0 WARNING object_manager.py:1238] Could not find object plate_d3f03fb737fec5e1ec6a907be81b1810_1_0_7 in scene +[2026-05-26 04:40:06,496] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:45:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 4871 episode 0 object objadecorativetape_a6bece29c668474c8a01a368941f0e9a_1_0_6 completed with success=False +[05/26 04:45:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4871: 1 episodes +[05/26 04:45:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:45:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:45:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4871 +[05/26 04:45:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4871 in 3.14s (batch: 2.97s, save: 0.18s) +[05/26 04:45:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4871 +[05/26 04:45:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4871: 0/1 successful episodes +[05/26 04:45:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4953 (index 22/35) +[05/26 04:45:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4953 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 04:45:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +[05/26 04:45:49 Worker 0 WARNING object_manager.py:1238] Could not find object objafantasycreaturehead_2e95179f4ce54e7c97d2ea97a58c65aa_1_0_6 in scene +[05/26 04:45:49 Worker 0 WARNING object_manager.py:1238] Could not find object egg_42ba097bdb4a3b55fe0b3765a6f91265_1_0_6 in scene +[2026-05-26 04:47:17,028] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:48:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:50:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 4953 episode 0 object objasculptingtool_f7f0c3b473e049aa84d9251793113418_1_0_4 completed with success=False +[05/26 04:51:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4953: 1 episodes +[05/26 04:51:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:51:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:51:06 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4953 +[05/26 04:51:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4953 in 3.11s (batch: 3.01s, save: 0.10s) +[05/26 04:51:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4953 +[05/26 04:51:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4953: 0/1 successful episodes +[05/26 04:51:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5002 (index 23/35) +[05/26 04:51:07 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5002 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 04:51:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +[2026-05-26 04:53:07,843] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:56:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 5002 episode 0 object objaservicebell_fc203fd849ea46f0b84d4843ba1aafcd_1_0_3 completed with success=False +[05/26 04:56:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5002: 1 episodes +[05/26 04:56:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:57:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:57:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5002 +[05/26 04:57:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5002 in 3.22s (batch: 3.09s, save: 0.13s) +[05/26 04:57:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5002 +[05/26 04:57:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5002: 0/1 successful episodes +[05/26 04:57:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5057 (index 24/35) +[05/26 04:57:03 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5057 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 04:57:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +[2026-05-26 04:59:19,002] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:00:33 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:02:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 5057 episode 0 object objatoywand_2faf794f6078454592c6686acddc17b0_1_0_7 completed with success=True +[05/26 05:02:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5057: 1 episodes +[05/26 05:02:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 205 timesteps +[05/26 05:02:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:02:26 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5057 +[05/26 05:02:26 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5057 in 2.55s (batch: 2.46s, save: 0.09s) +[05/26 05:02:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5057 +[05/26 05:02:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5057: 1/1 successful episodes +[05/26 05:02:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5132 (index 25/35) +[05/26 05:02:26 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5132 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 05:02:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/26 05:02:40 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_6 in scene +[2026-05-26 05:04:22,784] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:09:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 5132 episode 0 object objaawl_a001d9c9ea68400d9e57893975d3d39d_2_0_4 completed with success=False +[05/26 05:09:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5132: 1 episodes +[05/26 05:09:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:09:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:09:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5132 +[05/26 05:09:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5132 in 4.56s (batch: 4.33s, save: 0.23s) +[05/26 05:09:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5132 +[05/26 05:09:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5132: 0/1 successful episodes +[05/26 05:09:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5142 (index 26/35) +[05/26 05:09:18 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 5142 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 05:09:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/63 [00:00 does not support tracking retries. +[2026-05-26 05:12:13,581] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:20:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 5142 episode 0 object objadecorativeornament_08adaa9d4e484e8da7131775db77ac78_1_0_8 completed with success=False +[05/26 05:20:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/63 [00:00 does not support tracking retries. +[2026-05-26 05:22:06,809] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:29:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 5142 episode 1 object objatube_747652d3308142278b333f1e2ee13549_1_0_9 completed with success=False +[05/26 05:29:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5142: 2 episodes +[05/26 05:29:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:29:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:29:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:29:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:29:37 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5142 +[05/26 05:29:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5142 in 9.13s (batch: 8.78s, save: 0.35s) +[05/26 05:29:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5142 +[05/26 05:29:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5142: 0/2 successful episodes +[05/26 05:29:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5174 (index 27/35) +[05/26 05:29:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5174 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 05:29:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +[2026-05-26 05:32:07,837] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:33:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:37:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 5174 episode 0 object objabeveragecarton_61219208844744ada5df6dadcb876a3d_1_0_7 completed with success=False +[05/26 05:37:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5174: 1 episodes +[05/26 05:37:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:37:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:37:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5174 +[05/26 05:37:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5174 in 2.53s (batch: 2.43s, save: 0.10s) +[05/26 05:37:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5174 +[05/26 05:37:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5174: 0/1 successful episodes +[05/26 05:37:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5237 (index 28/35) +[05/26 05:37:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5237 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 05:37:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/68 [00:00 does not support tracking retries. +[05/26 05:38:04 Worker 0 WARNING object_manager.py:1238] Could not find object houseplant_5a33e41cc968acc7d549ddb28876af28_1_0_6 in scene +[05/26 05:38:04 Worker 0 WARNING object_manager.py:1238] Could not find object alarmclock_aeaa8688740de7793897653762c5fc08_1_0_6 in scene +[2026-05-26 05:39:24,595] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:46:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 5237 episode 0 object objanoveltyitem_0ca62a91b19e49f6a832ab83806066a8_1_0_8 completed with success=False +[05/26 05:46:56 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5237: 1 episodes +[05/26 05:46:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:47:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:47:00 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5237 +[05/26 05:47:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5237 in 3.73s (batch: 3.43s, save: 0.30s) +[05/26 05:47:01 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5237 +[05/26 05:47:01 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5237: 0/1 successful episodes +[05/26 05:47:01 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5314 (index 29/35) +[05/26 05:47:01 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5314 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 05:47:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +[05/26 05:47:11 Worker 0 WARNING object_manager.py:1238] Could not find object objatrackshoe_de9588f97f644bd689fc6502f262575d_1_0_5 in scene +[05/26 05:47:11 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeband_26be4c662c434a66b9e15d66eb4130d8_1_0_5 in scene +[2026-05-26 05:49:11,464] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:56:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 5314 episode 0 object objalemon_4ee454c08f5c45a7ac12ffd484c6ec14_1_0_6 completed with success=False +[05/26 05:56:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5314: 1 episodes +[05/26 05:56:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:56:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:56:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5314 +[05/26 05:56:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5314 in 2.92s (batch: 2.80s, save: 0.12s) +[05/26 05:56:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5314 +[05/26 05:56:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5314: 0/1 successful episodes +[05/26 05:56:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5387 (index 30/35) +[05/26 05:56:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5387 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 05:56:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +[2026-05-26 05:58:06,276] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:58:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:01:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 5387 episode 0 object objacollectiblecard_ddf9b19ef12e455989cee7733c1fc115_1_0_4 completed with success=False +[05/26 06:01:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5387: 1 episodes +[05/26 06:01:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:01:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:01:58 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5387 +[05/26 06:01:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5387 in 2.50s (batch: 2.41s, save: 0.09s) +[05/26 06:01:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5387 +[05/26 06:01:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5387: 0/1 successful episodes +[05/26 06:01:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5435 (index 31/35) +[05/26 06:01:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5435 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 06:01:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[2026-05-26 06:03:32,100] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:04:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:12:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 5435 episode 0 object objaarrowhead_0ece42a1f78e4c98afad7367973dfc49_1_0_3 completed with success=False +[05/26 06:12:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5435: 1 episodes +[05/26 06:12:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:12:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:12:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5435 +[05/26 06:12:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5435 in 3.60s (batch: 3.36s, save: 0.25s) +[05/26 06:12:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5435 +[05/26 06:12:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5435: 0/1 successful episodes +[05/26 06:12:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5479 (index 32/35) +[05/26 06:12:19 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5479 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 06:12:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[2026-05-26 06:14:54,148] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:15:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:20:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 5479 episode 0 object objasmartphone_16b06a69ca97415792c42dd1dc63a4d3_1_0_6 completed with success=False +[05/26 06:20:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5479: 1 episodes +[05/26 06:20:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:20:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:20:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5479 +[05/26 06:20:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5479 in 4.13s (batch: 3.86s, save: 0.27s) +[05/26 06:20:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5479 +[05/26 06:20:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5479: 0/1 successful episodes +[05/26 06:20:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5508 (index 33/35) +[05/26 06:20:53 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5508 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 06:20:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/26 06:21:17 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeband_26be4c662c434a66b9e15d66eb4130d8_1_0_5 in scene +[05/26 06:21:17 Worker 0 WARNING object_manager.py:1238] Could not find object objacleaningsponge_f173c4e92f854efe86fa939466e08e4b_1_0_5 in scene +[2026-05-26 06:23:22,541] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:24:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:27:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 5508 episode 0 object objabottleopener_c7783daa48a6466a9ac5f43e8f86db54_1_0_6 completed with success=False +[05/26 06:27:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5508: 1 episodes +[05/26 06:27:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:27:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:27:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5508 +[05/26 06:27:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5508 in 2.89s (batch: 2.75s, save: 0.14s) +[05/26 06:27:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5508 +[05/26 06:27:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5508: 0/1 successful episodes +[05/26 06:27:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5543 (index 34/35) +[05/26 06:27:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5543 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 06:27:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/26 [00:00 does not support tracking retries. +[2026-05-26 06:29:10,026] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:29:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:33:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 5543 episode 0 object objamokapot_e359184cea054cb09b5c603845cb0231_1_0_6 completed with success=False +[05/26 06:33:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5543: 1 episodes +[05/26 06:33:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:33:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:33:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5543 +[05/26 06:33:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5543 in 2.66s (batch: 2.57s, save: 0.09s) +[05/26 06:33:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5543 +[05/26 06:33:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5543: 0/1 successful episodes +[05/26 06:33:15 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses +[05/26 06:33:15 INFO pipeline.py:1496] Completed 35 houses, skipped 0 houses +[05/26 06:33:15 INFO pipeline.py:1499] Success count: 1, Total count: 38 +[05/26 06:33:15 INFO pipeline.py:1500] Success rate: 2.63% +Combined 38 episodes from 35 files → /tmp/tmpkk88wi58.h5 + +Saved → /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/results.csv at-end: 2.63% | oracle: 2.63% of 38 episodes +[2026-05-26 06:33:19,665] INFO MolmoSpaces simulator eval finished: success=1/38 rate=0.0263 output=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval +[2026-05-26 06:33:19,665] INFO Benchmark CSV: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/results.csv + +Submission artifacts ready: + CSV : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/submission/results.csv + Bundle zip : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/submission_bundle.zip + Summary : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/submission/summary.json + Full eval output : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval + Repro command : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/run_command.sh diff --git a/pnp_v2/pnp_v2/shards/shard_03/run.log b/pnp_v2/pnp_v2/shards/shard_03/run.log new file mode 100644 index 0000000000000000000000000000000000000000..1ae98904b1a209eb39f57a5bd11943f2e87d1960 --- /dev/null +++ b/pnp_v2/pnp_v2/shards/shard_03/run.log @@ -0,0 +1,1449 @@ +[2026-05-26 01:03:53,329] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath'] +[2026-05-26 01:03:53,437] INFO Selected MuJoCo backend: egl +[2026-05-26 01:03:53,471] INFO Using MolmoSpaces benchmark: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 (source=arg) +[2026-05-26 01:03:56,384] INFO No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +[nltk_data] Downloading package wordnet to /home/yuanpei/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /home/yuanpei/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +[2026-05-26 01:04:09,361] INFO ResourceManager (R2RemoteStorage('https://pub-3555e9bb2d304fab9c6c79819e48aa40.r2.dev')) using: + symlink_dir=/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets + cache_dir=/home/yuanpei/.cache/molmo-spaces-resources + force_install=True +/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py:129: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +[2026-05-26 01:04:36,985] INFO Requested MolmoSpaces simulator cameras: ['droid_shoulder_light_randomization', 'wrist_camera_zed_mini'] +[2026-05-26 01:04:36,989] INFO Using save_video_sensors=['__none__'] +[2026-05-26 01:04:40,882] INFO Resolved MolmoSpaces action semantics from checkpoint: source=pnp_next_to_v2 type=molmo_raw arm_action_key=joint_pos_rel gripper_action_key=joint_pos action_type=joint_pos_rel arm_command_mode=joint_rel_position +[2026-05-26 01:04:40,909] INFO Using explicit task_horizon override: 450 steps +[05/26 01:04:41 INFO pipeline.py:677] WandB logging disabled (environment variables not set) +[2026-05-26 01:04:41,001] INFO JsonEvalRunner initialized: 35 houses, 39 episodes from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 01:04:41 INFO pipeline.py:1279] Starting house-by-house rollout of 35 houses with 2 episodes each (70 total episodes) using 1 worker processes +[05/26 01:04:41 INFO pipeline.py:1286] Evaluation configuration: +[05/26 01:04:41 INFO pipeline.py:1287] {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['droid_shoulder_light_randomization', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 'wan_molmobot_franka', + 'obs_camera_name': 'droid_shoulder_light_randomization', + 'obs_image_key': 'rgb_head', + 'obs_state_key': 'robot_state', + 'obs_wrist_camera_name': 'wrist_camera_zed_mini', + 'obs_wrist_image_key': 'rgb_wrist', + 'policy_cls': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [3956, + 3970, + 3993, + 4030, + 4086, + 4156, + 4236, + 4292, + 4357, + 4375, + 4384, + 4429, + 4502, + 4550, + 4618, + 4668, + 4710, + 4747, + 4786, + 4788, + 4815, + 4871, + 4953, + 5002, + 5057, + 5132, + 5142, + 5174, + 5237, + 5314, + 5387, + 5435, + 5479, + 5508, + 5543], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} +[2026-05-26 01:04:41,017] INFO Saved experiment configuration to /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440 +[05/26 01:04:41 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler +[05/26 01:04:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/26 01:04:41 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler +[05/26 01:04:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3956 (index 0/35) +[05/26 01:04:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3956 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 01:04:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +2026-05-26 01:06:10.308 | INFO | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0 +[2026-05-26 01:06:45,280] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k) +[2026-05-26 01:06:46,274] INFO [timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k] Safe alternative available for 'pytorch_model.bin' (as 'model.safetensors'). Loading weights using safetensors. +[2026-05-26 01:08:50,484] INFO Number of parameters in DiT: 1.821428e+07 +[2026-05-26 01:09:03,882] INFO Loaded generic psi-policy checkpoint | target=psi_policy.policy.psi_policy.PsiPolicy | obs_keys=['rgb_head', 'rgb_wrist', 'robot_state', 'text_context'] | action_horizon=16 | action_dim=8 +[2026-05-26 01:09:03,887] INFO Loaded MolmoSpaces policy | checkpoint=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt | target=psi_policy.policy.psi_policy.PsiPolicy | device=cuda:0 | action_chunk_size=8 +[05/26 01:09:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:13:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 3956 episode 0 object objawallet_284753c433144278b333b617615d6b3a_1_0_2 completed with success=False +[05/26 01:13:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3956: 1 episodes +[05/26 01:13:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:13:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:13:19 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_3956 +[05/26 01:13:19 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3956 in 4.50s (batch: 4.18s, save: 0.32s) +[05/26 01:13:20 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3956 +[05/26 01:13:20 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3956: 0/1 successful episodes +[05/26 01:13:20 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3970 (index 1/35) +[05/26 01:13:20 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 3970 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 01:13:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +[05/26 01:22:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 3970 episode 0 object objahandmodel_60401d040b8c49e4806ef37a1d399cea_1_0_2 completed with success=False +[05/26 01:22:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +[05/26 01:37:28 Worker 0 ERROR pipeline.py:1164] Worker 0 house 3970 episode 1 rollout error: Timed out waiting for prompt embedding cache: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan/prompt_Pick_up_the_triangular_colorful_patch_with_eye_d_56017b623134.pt, /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan/molmospaces_eval_pick_up_the_triangular_colorful_patch_with_eye_design_and_place_it_in_or_on_the_rectangular_shal.pt +Traceback (most recent call last): + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1095, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/data_generation/pipeline.py", line 820, in run_single_rollout + action_cmd = policy.get_action(observation) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/policy/base_policy.py", line 112, in get_action + model_input = self.obs_to_model_input(observation) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/molmospaces_adapter/policy.py", line 413, in obs_to_model_input + text_context = self._load_text_context(task_description) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/molmospaces_adapter/policy.py", line 565, in _load_text_context + embedding_path = ensure_wan_prompt_embedding( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/model/wan/prompt_embedding.py", line 89, in ensure_wan_prompt_embedding + return _wait_for_prompt_embedding( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/model/wan/prompt_embedding.py", line 390, in _wait_for_prompt_embedding + raise TimeoutError(f"Timed out waiting for prompt embedding cache: {searched}") +TimeoutError: Timed out waiting for prompt embedding cache: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan/prompt_Pick_up_the_triangular_colorful_patch_with_eye_d_56017b623134.pt, /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan/molmospaces_eval_pick_up_the_triangular_colorful_patch_with_eye_design_and_place_it_in_or_on_the_rectangular_shal.pt +[05/26 01:37:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3970: 1 episodes +[05/26 01:37:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:37:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:37:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_3970 +[05/26 01:37:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3970 in 3.38s (batch: 3.18s, save: 0.20s) +[05/26 01:37:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3970 +[05/26 01:37:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3970: 0/1 successful episodes +[05/26 01:37:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3993 (index 2/35) +[05/26 01:37:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3993 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 01:37:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[05/26 01:38:10 Worker 0 WARNING object_manager.py:1238] Could not find object objagardenfork_ce1900ce820a4a419d376d1532e85bcf_1_0_4 in scene +[05/26 01:38:10 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturebuilding_1954e7fb9f324e26973b1d34f5358040_1_0_7 in scene +[05/26 01:38:10 Worker 0 WARNING object_manager.py:1238] Could not find object objalighter_a2db21b57424449f9a2d1aa08e5b0c90_1_0_7 in scene +[2026-05-26 01:40:08,275] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/huggingface_hub/file_download.py:945: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`. + warnings.warn( +[05/26 01:41:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:44:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 3993 episode 0 object objacollar_5f329a75ab1a4890868ba37061ca3396_1_0_7 completed with success=False +[05/26 01:44:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3993: 1 episodes +[05/26 01:44:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:44:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:44:39 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_3993 +[05/26 01:44:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3993 in 2.40s (batch: 2.31s, save: 0.09s) +[05/26 01:44:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3993 +[05/26 01:44:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3993: 0/1 successful episodes +[05/26 01:44:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4030 (index 3/35) +[05/26 01:44:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4030 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 01:44:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 does not support tracking retries. +[2026-05-26 01:55:02,899] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 01:58:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 4030 episode 0 object objatube_747652d3308142278b333f1e2ee13549_1_0_5 completed with success=False +[05/26 01:58:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4030: 1 episodes +[05/26 01:58:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:58:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:58:28 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4030 +[05/26 01:58:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4030 in 2.94s (batch: 2.77s, save: 0.17s) +[05/26 01:58:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4030 +[05/26 01:58:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4030: 0/1 successful episodes +[05/26 01:58:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4086 (index 4/35) +[05/26 01:58:29 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4086 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 01:58:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[2026-05-26 02:00:26,533] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:06:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 4086 episode 0 object objacupcake_dc0c1995690645a4b7016b1c50636bb4_1_0_8 completed with success=False +[05/26 02:06:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4086: 1 episodes +[05/26 02:06:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:06:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:06:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4086 +[05/26 02:06:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4086 in 3.76s (batch: 3.62s, save: 0.14s) +[05/26 02:06:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4086 +[05/26 02:06:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4086: 0/1 successful episodes +[05/26 02:06:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4156 (index 5/35) +[05/26 02:06:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4156 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 02:06:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[05/26 02:07:11 Worker 0 WARNING object_manager.py:1238] Could not find object objacleaningsponge_afd092fac12f4ef8984b80d3d15de232_1_0_5 in scene +[2026-05-26 02:09:17,448] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:10:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:14:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 4156 episode 0 object objadecorativescript_698f49c7bedb4fc3a5777a9f4edcc5bc_1_0_9 completed with success=False +[05/26 02:14:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4156: 1 episodes +[05/26 02:14:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:14:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:14:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4156 +[05/26 02:14:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4156 in 3.74s (batch: 3.62s, save: 0.12s) +[05/26 02:14:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4156 +[05/26 02:14:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4156: 0/1 successful episodes +[05/26 02:14:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4236 (index 6/35) +[05/26 02:14:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4236 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 02:14:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/7 [00:00 does not support tracking retries. +[2026-05-26 02:16:41,297] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:17:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:20:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 4236 episode 0 object objawristwatch_189f8a498b074e28a2b37a099d57fb2b_1_0_2 completed with success=False +[05/26 02:20:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4236: 1 episodes +[05/26 02:20:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:20:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:20:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4236 +[05/26 02:20:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4236 in 3.38s (batch: 3.24s, save: 0.14s) +[05/26 02:20:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4236 +[05/26 02:20:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4236: 0/1 successful episodes +[05/26 02:20:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4292 (index 7/35) +[05/26 02:20:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4292 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 02:20:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +[2026-05-26 02:22:30,537] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:28:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 4292 episode 0 object objadecorativering_f1c609d000e74dcd96fb8b083db2db9c_1_0_8 completed with success=False +[05/26 02:28:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4292: 1 episodes +[05/26 02:28:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:28:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:28:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4292 +[05/26 02:28:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4292 in 4.22s (batch: 4.01s, save: 0.20s) +[05/26 02:28:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4292 +[05/26 02:28:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4292: 0/1 successful episodes +[05/26 02:28:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4357 (index 8/35) +[05/26 02:28:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4357 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 02:28:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +[2026-05-26 02:31:13,150] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:36:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 4357 episode 0 object objadecorativesculpture_b277500749914c1b966438f679587a3d_1_0_9 completed with success=False +[05/26 02:36:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4357: 1 episodes +[05/26 02:36:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:36:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:36:45 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4357 +[05/26 02:36:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4357 in 3.25s (batch: 3.11s, save: 0.13s) +[05/26 02:36:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4357 +[05/26 02:36:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4357: 0/1 successful episodes +[05/26 02:36:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4375 (index 9/35) +[05/26 02:36:46 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4375 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 02:36:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +[05/26 02:36:56 Worker 0 WARNING object_manager.py:1238] Could not find object objaglove_c954a6160ee34548a1b0ea538f3b92dd_1_0_8 in scene +[05/26 02:36:56 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_8 in scene +[2026-05-26 02:38:53,529] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:45:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 4375 episode 0 object objaplayingcard_dad48ec229b640449d29ffc14d5eadbf_1_0_4 completed with success=False +[05/26 02:45:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +[05/26 02:45:51 Worker 0 WARNING object_manager.py:1238] Could not find object objaglove_c954a6160ee34548a1b0ea538f3b92dd_1_0_8 in scene +[05/26 02:45:51 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_8 in scene +[2026-05-26 02:48:03,811] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:49:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:54:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 4375 episode 1 object objafruit_b618ea230ab04d9c8804eebe766a6426_1_0_8 completed with success=False +[05/26 02:54:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4375: 2 episodes +[05/26 02:54:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:54:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:54:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:54:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:54:22 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4375 +[05/26 02:54:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4375 in 7.82s (batch: 7.53s, save: 0.29s) +[05/26 02:54:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4375 +[05/26 02:54:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4375: 0/2 successful episodes +[05/26 02:54:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4384 (index 10/35) +[05/26 02:54:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4384 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 02:54:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/58 [00:00 does not support tracking retries. +[05/26 02:54:37 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingventcover_c56ee3f7d606481bb4aaedc4250b097e_1_0_5 in scene +[05/26 02:54:37 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_8c6e5265f19b49709119c2628c2bdf3f_1_0_5 in scene +[2026-05-26 02:57:04,715] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:58:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:07:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 4384 episode 0 object objagreetingcard_99d51751c64749d68d8da3903cb45194_1_0_3 completed with success=False +[05/26 03:07:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4384: 1 episodes +[05/26 03:07:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:07:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:07:28 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4384 +[05/26 03:07:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4384 in 3.44s (batch: 3.20s, save: 0.23s) +[05/26 03:07:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4384 +[05/26 03:07:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4384: 0/1 successful episodes +[05/26 03:07:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4429 (index 11/35) +[05/26 03:07:29 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4429 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 03:07:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/13 [00:00 does not support tracking retries. +[2026-05-26 03:10:00,952] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:11:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:14:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 4429 episode 0 object objagamingmouse_c7a1a915a0a44a128f9e91e0be1a2316_1_0_3 completed with success=False +[05/26 03:15:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4429: 1 episodes +[05/26 03:15:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:15:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:15:07 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4429 +[05/26 03:15:07 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4429 in 3.68s (batch: 3.51s, save: 0.17s) +[05/26 03:15:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4429 +[05/26 03:15:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4429: 0/1 successful episodes +[05/26 03:15:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4502 (index 12/35) +[05/26 03:15:07 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4502 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 03:15:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +[05/26 03:15:26 Worker 0 WARNING object_manager.py:1238] Could not find object objacleaningsponge_afd092fac12f4ef8984b80d3d15de232_1_0_5 in scene +[05/26 03:15:26 Worker 0 WARNING object_manager.py:1238] Could not find object objaaerosolcan_b6b64dc8ae6049dbba19ae2cef3575bb_1_0_5 in scene +[05/26 03:15:26 Worker 0 WARNING object_manager.py:1238] Could not find object lettuce_78266f6bc320cc73d50a37e54430a582_1_0_6 in scene +[2026-05-26 03:17:03,819] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:18:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:22:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 4502 episode 0 object objaceramiccup_dde060cbc53a40e2ba7ca9353c21fe91_1_0_6 completed with success=False +[05/26 03:22:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4502: 1 episodes +[05/26 03:22:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:22:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:22:45 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4502 +[05/26 03:22:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4502 in 3.13s (batch: 3.01s, save: 0.12s) +[05/26 03:22:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4502 +[05/26 03:22:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4502: 0/1 successful episodes +[05/26 03:22:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4550 (index 13/35) +[05/26 03:22:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4550 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 03:22:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[05/26 03:22:57 Worker 0 WARNING object_manager.py:1238] Could not find object objabirdskull_56816fb55d054bdc9ecd6ea6b35b44c1_1_0_4 in scene +[05/26 03:22:57 Worker 0 WARNING object_manager.py:1238] Could not find object alarmclock_85647c60207a07a17bbd65025ae5d72c_1_0_4 in scene +[05/26 03:22:57 Worker 0 WARNING object_manager.py:1238] Could not find object vase_4686c3634f3334d6f28ba73fcd509a72_1_0_4 in scene +[05/26 03:22:57 Worker 0 WARNING object_manager.py:1238] Could not find object objaclog_b931698a3f5f4fb2a1c27aae7f6120e2_1_0_5 in scene +[05/26 03:22:57 Worker 0 WARNING object_manager.py:1238] Could not find object objatube_65b148a1480846e08e5ce03164d4c012_1_0_5 in scene +[05/26 03:22:57 Worker 0 WARNING object_manager.py:1238] Could not find object objasandwich_b52cc19a3f2042fb981b64e4f910199c_2_0_8 in scene +[05/26 03:22:57 Worker 0 WARNING object_manager.py:1238] Could not find object apple_e4633a6eeab3bd9cfd60227d76a684e8_1_0_8 in scene +[2026-05-26 03:24:01,718] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:24:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:30:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 4550 episode 0 object atomizer_973bce9435d852757b03afc168e4c1df_1_0_8 completed with success=False +[05/26 03:30:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4550: 1 episodes +[05/26 03:30:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:30:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:30:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4550 +[05/26 03:30:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4550 in 3.56s (batch: 3.31s, save: 0.25s) +[05/26 03:30:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4550 +[05/26 03:30:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4550: 0/1 successful episodes +[05/26 03:30:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4618 (index 14/35) +[05/26 03:30:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4618 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 03:30:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 does not support tracking retries. +[05/26 03:30:54 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativestoneplaque_7fc5390ada9e4965ab984dbc1200737a_1_0_5 in scene +[05/26 03:30:54 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_98ad81f9aaa74fe0c8d1de65acb880ca_1_0_5 in scene +[2026-05-26 03:33:00,968] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:34:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:40:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 4618 episode 0 object objashoe_60bc124848d642d49f3ffa9fcdea16b8_1_0_5 completed with success=False +[05/26 03:40:17 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4618: 1 episodes +[05/26 03:40:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:40:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:40:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4618 +[05/26 03:40:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4618 in 3.77s (batch: 3.63s, save: 0.14s) +[05/26 03:40:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4618 +[05/26 03:40:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4618: 0/1 successful episodes +[05/26 03:40:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4668 (index 15/35) +[05/26 03:40:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4668 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 03:40:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/26 03:40:35 Worker 0 WARNING object_manager.py:1238] Could not find object objaseashell_e37e9b7bc8ce44b4af0702e07a549ef6_1_0_5 in scene +[05/26 03:40:35 Worker 0 WARNING object_manager.py:1238] Could not find object objaaerosolcan_6275746374cf4768bbe8d2dcfeefb596_1_0_5 in scene +[2026-05-26 03:42:39,477] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:46:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 4668 episode 0 object objabarcodescanner_88317b5bfc0b4c14a5004c6d109c815b_1_0_4 completed with success=False +[05/26 03:46:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4668: 1 episodes +[05/26 03:46:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:46:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:46:29 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4668 +[05/26 03:46:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4668 in 2.68s (batch: 2.58s, save: 0.10s) +[05/26 03:46:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4668 +[05/26 03:46:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4668: 0/1 successful episodes +[05/26 03:46:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4710 (index 16/35) +[05/26 03:46:29 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4710 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 03:46:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +[05/26 03:46:46 Worker 0 WARNING object_manager.py:1238] Could not find object objanotebook_ca51d5e826594959a3b460e88ccabd0e_1_0_2 in scene +[05/26 03:46:46 Worker 0 WARNING object_manager.py:1238] Could not find object objapaymentterminal_5c6990d5820c40d3b864066504643219_1_0_2 in scene +[05/26 03:46:46 Worker 0 WARNING object_manager.py:1238] Could not find object objabirdmodel_08708444f40949d697340fd8f9d7cbeb_1_0_2 in scene +[05/26 03:46:46 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeobject_8c14ba2dddcb48cb9650e84fb60260e5_1_0_6 in scene +[05/26 03:46:46 Worker 0 WARNING object_manager.py:1238] Could not find object objaspring_1e6a7476f88c475ab5d86d8ac11e1752_2_0_6 in scene +[05/26 03:46:46 Worker 0 WARNING object_manager.py:1238] Could not find object objatissuebox_65d3d9a616c544f2b57f91c23ce4d68b_1_0_6 in scene +[2026-05-26 03:48:35,015] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:05:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 4710 episode 0 object objaspring_310f124af29745708b5393d7197d6fd5_1_0_6 completed with success=False +[05/26 04:05:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4710: 1 episodes +[05/26 04:05:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:05:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:05:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4710 +[05/26 04:05:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4710 in 3.12s (batch: 2.99s, save: 0.13s) +[05/26 04:05:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4710 +[05/26 04:05:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4710: 0/1 successful episodes +[05/26 04:05:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4747 (index 17/35) +[05/26 04:05:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4747 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 04:05:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[2026-05-26 04:07:16,892] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:07:44 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:12:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 4747 episode 0 object objahangingpot_079f67e3d21b4559a5ef90f538d130ab_1_0_2 completed with success=False +[05/26 04:12:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4747: 1 episodes +[05/26 04:12:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:12:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:12:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4747 +[05/26 04:12:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4747 in 3.55s (batch: 3.41s, save: 0.14s) +[05/26 04:12:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4747 +[05/26 04:12:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4747: 0/1 successful episodes +[05/26 04:12:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4786 (index 18/35) +[05/26 04:12:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4786 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 04:12:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/34 [00:00 does not support tracking retries. +[05/26 04:12:29 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene +[05/26 04:12:29 Worker 0 WARNING object_manager.py:1238] Could not find object objamacaron_750737aee1504384a8f8fa9bbe9aab02_3_0_8 in scene +[05/26 04:12:29 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_54a26e582c75bf5352d57ce6ff73c9ef_1_0_8 in scene +[2026-05-26 04:14:38,118] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:16:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:21:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 4786 episode 0 object objadigitalcamera_6149eddd5e0c4cf4a7dcd55bf6d4a4e7_1_0_9 completed with success=False +[05/26 04:21:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4786: 1 episodes +[05/26 04:21:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:21:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:21:49 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4786 +[05/26 04:21:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4786 in 2.80s (batch: 2.65s, save: 0.15s) +[05/26 04:21:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4786 +[05/26 04:21:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4786: 0/1 successful episodes +[05/26 04:21:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4788 (index 19/35) +[05/26 04:21:50 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4788 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 04:21:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[2026-05-26 04:23:12,226] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:23:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:27:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 4788 episode 0 object objalighter_5107e0007fdc4ed08be3f35aff7e5bb2_1_0_5 completed with success=False +[05/26 04:27:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[2026-05-26 04:29:37,630] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:30:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:34:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 4788 episode 1 object objasugarbowl_4cd9d4a7727c440f9b1bff2384bac433_1_0_8 completed with success=False +[05/26 04:34:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4788: 2 episodes +[05/26 04:34:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:34:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:34:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:34:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:34:15 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4788 +[05/26 04:34:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4788 in 5.58s (batch: 5.34s, save: 0.24s) +[05/26 04:34:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4788 +[05/26 04:34:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4788: 0/2 successful episodes +[05/26 04:34:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4815 (index 20/35) +[05/26 04:34:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4815 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 04:34:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 does not support tracking retries. +[2026-05-26 04:35:53,399] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:36:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:38:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 4815 episode 0 object objamechanicalclamp_c1a3633d2e274d369c0e3c4711957a17_1_0_3 completed with success=False +[05/26 04:38:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4815: 1 episodes +[05/26 04:38:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:38:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:38:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4815 +[05/26 04:38:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4815 in 2.55s (batch: 2.43s, save: 0.13s) +[05/26 04:38:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4815 +[05/26 04:38:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4815: 0/1 successful episodes +[05/26 04:38:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4871 (index 21/35) +[05/26 04:38:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4871 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 04:38:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +[05/26 04:39:00 Worker 0 WARNING object_manager.py:1238] Could not find object objaskull_1c828507e2a1477a84beee5b909a5e54_1_0_7 in scene +[05/26 04:39:00 Worker 0 WARNING object_manager.py:1238] Could not find object plate_d3f03fb737fec5e1ec6a907be81b1810_1_0_7 in scene +[2026-05-26 04:40:06,496] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:45:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 4871 episode 0 object objadecorativetape_a6bece29c668474c8a01a368941f0e9a_1_0_6 completed with success=False +[05/26 04:45:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4871: 1 episodes +[05/26 04:45:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:45:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:45:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4871 +[05/26 04:45:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4871 in 3.14s (batch: 2.97s, save: 0.18s) +[05/26 04:45:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4871 +[05/26 04:45:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4871: 0/1 successful episodes +[05/26 04:45:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4953 (index 22/35) +[05/26 04:45:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4953 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 04:45:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +[05/26 04:45:49 Worker 0 WARNING object_manager.py:1238] Could not find object objafantasycreaturehead_2e95179f4ce54e7c97d2ea97a58c65aa_1_0_6 in scene +[05/26 04:45:49 Worker 0 WARNING object_manager.py:1238] Could not find object egg_42ba097bdb4a3b55fe0b3765a6f91265_1_0_6 in scene +[2026-05-26 04:47:17,028] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:48:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:50:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 4953 episode 0 object objasculptingtool_f7f0c3b473e049aa84d9251793113418_1_0_4 completed with success=False +[05/26 04:51:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4953: 1 episodes +[05/26 04:51:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:51:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:51:06 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4953 +[05/26 04:51:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4953 in 3.11s (batch: 3.01s, save: 0.10s) +[05/26 04:51:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4953 +[05/26 04:51:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4953: 0/1 successful episodes +[05/26 04:51:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5002 (index 23/35) +[05/26 04:51:07 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5002 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 04:51:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +[2026-05-26 04:53:07,843] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:56:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 5002 episode 0 object objaservicebell_fc203fd849ea46f0b84d4843ba1aafcd_1_0_3 completed with success=False +[05/26 04:56:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5002: 1 episodes +[05/26 04:56:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:57:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:57:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5002 +[05/26 04:57:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5002 in 3.22s (batch: 3.09s, save: 0.13s) +[05/26 04:57:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5002 +[05/26 04:57:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5002: 0/1 successful episodes +[05/26 04:57:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5057 (index 24/35) +[05/26 04:57:03 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5057 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 04:57:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +[2026-05-26 04:59:19,002] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:00:33 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:02:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 5057 episode 0 object objatoywand_2faf794f6078454592c6686acddc17b0_1_0_7 completed with success=True +[05/26 05:02:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5057: 1 episodes +[05/26 05:02:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 205 timesteps +[05/26 05:02:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:02:26 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5057 +[05/26 05:02:26 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5057 in 2.55s (batch: 2.46s, save: 0.09s) +[05/26 05:02:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5057 +[05/26 05:02:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5057: 1/1 successful episodes +[05/26 05:02:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5132 (index 25/35) +[05/26 05:02:26 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5132 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 05:02:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/26 05:02:40 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_6 in scene +[2026-05-26 05:04:22,784] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:09:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 5132 episode 0 object objaawl_a001d9c9ea68400d9e57893975d3d39d_2_0_4 completed with success=False +[05/26 05:09:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5132: 1 episodes +[05/26 05:09:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:09:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:09:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5132 +[05/26 05:09:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5132 in 4.56s (batch: 4.33s, save: 0.23s) +[05/26 05:09:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5132 +[05/26 05:09:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5132: 0/1 successful episodes +[05/26 05:09:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5142 (index 26/35) +[05/26 05:09:18 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 5142 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 05:09:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/63 [00:00 does not support tracking retries. +[2026-05-26 05:12:13,581] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:20:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 5142 episode 0 object objadecorativeornament_08adaa9d4e484e8da7131775db77ac78_1_0_8 completed with success=False +[05/26 05:20:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/63 [00:00 does not support tracking retries. +[2026-05-26 05:22:06,809] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:29:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 5142 episode 1 object objatube_747652d3308142278b333f1e2ee13549_1_0_9 completed with success=False +[05/26 05:29:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5142: 2 episodes +[05/26 05:29:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:29:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:29:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:29:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:29:37 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5142 +[05/26 05:29:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5142 in 9.13s (batch: 8.78s, save: 0.35s) +[05/26 05:29:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5142 +[05/26 05:29:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5142: 0/2 successful episodes +[05/26 05:29:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5174 (index 27/35) +[05/26 05:29:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5174 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 05:29:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +[2026-05-26 05:32:07,837] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:33:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:37:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 5174 episode 0 object objabeveragecarton_61219208844744ada5df6dadcb876a3d_1_0_7 completed with success=False +[05/26 05:37:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5174: 1 episodes +[05/26 05:37:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:37:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:37:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5174 +[05/26 05:37:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5174 in 2.53s (batch: 2.43s, save: 0.10s) +[05/26 05:37:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5174 +[05/26 05:37:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5174: 0/1 successful episodes +[05/26 05:37:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5237 (index 28/35) +[05/26 05:37:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5237 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 05:37:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/68 [00:00 does not support tracking retries. +[05/26 05:38:04 Worker 0 WARNING object_manager.py:1238] Could not find object houseplant_5a33e41cc968acc7d549ddb28876af28_1_0_6 in scene +[05/26 05:38:04 Worker 0 WARNING object_manager.py:1238] Could not find object alarmclock_aeaa8688740de7793897653762c5fc08_1_0_6 in scene +[2026-05-26 05:39:24,595] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:46:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 5237 episode 0 object objanoveltyitem_0ca62a91b19e49f6a832ab83806066a8_1_0_8 completed with success=False +[05/26 05:46:56 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5237: 1 episodes +[05/26 05:46:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:47:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:47:00 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5237 +[05/26 05:47:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5237 in 3.73s (batch: 3.43s, save: 0.30s) +[05/26 05:47:01 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5237 +[05/26 05:47:01 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5237: 0/1 successful episodes +[05/26 05:47:01 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5314 (index 29/35) +[05/26 05:47:01 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5314 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 05:47:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +[05/26 05:47:11 Worker 0 WARNING object_manager.py:1238] Could not find object objatrackshoe_de9588f97f644bd689fc6502f262575d_1_0_5 in scene +[05/26 05:47:11 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeband_26be4c662c434a66b9e15d66eb4130d8_1_0_5 in scene +[2026-05-26 05:49:11,464] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:56:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 5314 episode 0 object objalemon_4ee454c08f5c45a7ac12ffd484c6ec14_1_0_6 completed with success=False +[05/26 05:56:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5314: 1 episodes +[05/26 05:56:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:56:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:56:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5314 +[05/26 05:56:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5314 in 2.92s (batch: 2.80s, save: 0.12s) +[05/26 05:56:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5314 +[05/26 05:56:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5314: 0/1 successful episodes +[05/26 05:56:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5387 (index 30/35) +[05/26 05:56:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5387 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 05:56:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +[2026-05-26 05:58:06,276] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:58:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:01:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 5387 episode 0 object objacollectiblecard_ddf9b19ef12e455989cee7733c1fc115_1_0_4 completed with success=False +[05/26 06:01:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5387: 1 episodes +[05/26 06:01:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:01:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:01:58 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5387 +[05/26 06:01:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5387 in 2.50s (batch: 2.41s, save: 0.09s) +[05/26 06:01:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5387 +[05/26 06:01:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5387: 0/1 successful episodes +[05/26 06:01:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5435 (index 31/35) +[05/26 06:01:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5435 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 06:01:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[2026-05-26 06:03:32,100] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:04:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:12:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 5435 episode 0 object objaarrowhead_0ece42a1f78e4c98afad7367973dfc49_1_0_3 completed with success=False +[05/26 06:12:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5435: 1 episodes +[05/26 06:12:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:12:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:12:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5435 +[05/26 06:12:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5435 in 3.60s (batch: 3.36s, save: 0.25s) +[05/26 06:12:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5435 +[05/26 06:12:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5435: 0/1 successful episodes +[05/26 06:12:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5479 (index 32/35) +[05/26 06:12:19 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5479 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 06:12:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[2026-05-26 06:14:54,148] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:15:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:20:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 5479 episode 0 object objasmartphone_16b06a69ca97415792c42dd1dc63a4d3_1_0_6 completed with success=False +[05/26 06:20:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5479: 1 episodes +[05/26 06:20:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:20:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:20:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5479 +[05/26 06:20:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5479 in 4.13s (batch: 3.86s, save: 0.27s) +[05/26 06:20:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5479 +[05/26 06:20:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5479: 0/1 successful episodes +[05/26 06:20:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5508 (index 33/35) +[05/26 06:20:53 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5508 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 06:20:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/26 06:21:17 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeband_26be4c662c434a66b9e15d66eb4130d8_1_0_5 in scene +[05/26 06:21:17 Worker 0 WARNING object_manager.py:1238] Could not find object objacleaningsponge_f173c4e92f854efe86fa939466e08e4b_1_0_5 in scene +[2026-05-26 06:23:22,541] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:24:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:27:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 5508 episode 0 object objabottleopener_c7783daa48a6466a9ac5f43e8f86db54_1_0_6 completed with success=False +[05/26 06:27:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5508: 1 episodes +[05/26 06:27:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:27:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:27:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5508 +[05/26 06:27:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5508 in 2.89s (batch: 2.75s, save: 0.14s) +[05/26 06:27:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5508 +[05/26 06:27:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5508: 0/1 successful episodes +[05/26 06:27:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5543 (index 34/35) +[05/26 06:27:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5543 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 06:27:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/26 [00:00 does not support tracking retries. +[2026-05-26 06:29:10,026] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:29:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:33:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 5543 episode 0 object objamokapot_e359184cea054cb09b5c603845cb0231_1_0_6 completed with success=False +[05/26 06:33:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5543: 1 episodes +[05/26 06:33:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:33:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:33:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5543 +[05/26 06:33:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5543 in 2.66s (batch: 2.57s, save: 0.09s) +[05/26 06:33:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5543 +[05/26 06:33:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5543: 0/1 successful episodes +[05/26 06:33:15 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses +[05/26 06:33:15 INFO pipeline.py:1496] Completed 35 houses, skipped 0 houses +[05/26 06:33:15 INFO pipeline.py:1499] Success count: 1, Total count: 38 +[05/26 06:33:15 INFO pipeline.py:1500] Success rate: 2.63% +Combined 38 episodes from 35 files → /tmp/tmpkk88wi58.h5 + +Saved → /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/results.csv at-end: 2.63% | oracle: 2.63% of 38 episodes +[2026-05-26 06:33:19,665] INFO MolmoSpaces simulator eval finished: success=1/38 rate=0.0263 output=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval +[2026-05-26 06:33:19,665] INFO Benchmark CSV: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/results.csv diff --git a/pnp_v2/pnp_v2/shards/shard_03/run_command.sh b/pnp_v2/pnp_v2/shards/shard_03/run_command.sh new file mode 100644 index 0000000000000000000000000000000000000000..0cf32cf63edacd3dd9710ec6f646bf3d8fda349f --- /dev/null +++ b/pnp_v2/pnp_v2/shards/shard_03/run_command.sh @@ -0,0 +1,4 @@ +#!/usr/bin/env bash +set -euo pipefail +cd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy +conda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament diff --git a/pnp_v2/pnp_v2/shards/shard_04.launcher.log b/pnp_v2/pnp_v2/shards/shard_04.launcher.log new file mode 100644 index 0000000000000000000000000000000000000000..0866b5ccd2d9746337fac9cf67384cf159bc6477 --- /dev/null +++ b/pnp_v2/pnp_v2/shards/shard_04.launcher.log @@ -0,0 +1,1700 @@ +================================================================================ +Official MolmoSpaces Submission Run +================================================================================ +Checkpoint : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt +Benchmark dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +Output root : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04 +Eval output dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval +Submission dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/submission +Conda env : molmospace +Policy name : latest +Policy device : cuda:0 +Text embedding device : cpu +Prompt cache dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan +Workers : 1 +Task horizon steps : 450 +Action chunk size : 8 +Obs camera : droid_shoulder_light_randomization +Obs wrist camera : wrist_camera_zed_mini +Camera names : droid_shoulder_light_randomization wrist_camera_zed_mini +Preview camera names : droid_shoulder_light_randomization +End on success : 1 +Visualization : 0 +Save raw videos : 0 +Save video sensors : __none__ +Success condition (CSV) : both + +Official runner : molmo_spaces.evaluation.run_evaluation() +CSV exporter : molmospaces/scripts/benchmarks/eval_to_csv.py + +Command +conda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament +================================================================================ +[2026-05-26 01:03:53,519] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath'] +[2026-05-26 01:03:53,583] INFO Selected MuJoCo backend: egl +[2026-05-26 01:03:53,645] INFO Using MolmoSpaces benchmark: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 (source=arg) +[2026-05-26 01:03:56,468] INFO No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +[nltk_data] Downloading package wordnet to /home/yuanpei/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /home/yuanpei/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +[2026-05-26 01:04:10,977] INFO ResourceManager (R2RemoteStorage('https://pub-3555e9bb2d304fab9c6c79819e48aa40.r2.dev')) using: + symlink_dir=/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets + cache_dir=/home/yuanpei/.cache/molmo-spaces-resources + force_install=True +/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py:129: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +[2026-05-26 01:04:40,137] INFO Requested MolmoSpaces simulator cameras: ['droid_shoulder_light_randomization', 'wrist_camera_zed_mini'] +[2026-05-26 01:04:40,140] INFO Using save_video_sensors=['__none__'] +[2026-05-26 01:04:43,584] INFO Resolved MolmoSpaces action semantics from checkpoint: source=pnp_next_to_v2 type=molmo_raw arm_action_key=joint_pos_rel gripper_action_key=joint_pos action_type=joint_pos_rel arm_command_mode=joint_rel_position +[2026-05-26 01:04:43,661] INFO Using explicit task_horizon override: 450 steps +[05/26 01:04:43 INFO pipeline.py:677] WandB logging disabled (environment variables not set) +[2026-05-26 01:04:43,744] INFO JsonEvalRunner initialized: 42 houses, 47 episodes from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 01:04:43 INFO pipeline.py:1279] Starting house-by-house rollout of 42 houses with 2 episodes each (84 total episodes) using 1 worker processes +[05/26 01:04:43 INFO pipeline.py:1286] Evaluation configuration: +[05/26 01:04:43 INFO pipeline.py:1287] {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['droid_shoulder_light_randomization', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 'wan_molmobot_franka', + 'obs_camera_name': 'droid_shoulder_light_randomization', + 'obs_image_key': 'rgb_head', + 'obs_state_key': 'robot_state', + 'obs_wrist_camera_name': 'wrist_camera_zed_mini', + 'obs_wrist_image_key': 'rgb_wrist', + 'policy_cls': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [3613, + 3654, + 3698, + 3764, + 3794, + 3881, + 3911, + 3957, + 3995, + 4038, + 4097, + 4108, + 4158, + 4255, + 4316, + 4359, + 4390, + 4433, + 4439, + 4507, + 4551, + 4619, + 4682, + 4715, + 4749, + 4792, + 4819, + 4837, + 4880, + 4960, + 5006, + 5068, + 5134, + 5173, + 5185, + 5242, + 5320, + 5401, + 5436, + 5481, + 5509, + 5549], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} +[2026-05-26 01:04:43,755] INFO Saved experiment configuration to /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443 +[05/26 01:04:43 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler +[05/26 01:04:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/26 01:04:43 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler +[05/26 01:04:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3613 (index 0/42) +[05/26 01:04:43 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 3613 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 01:04:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +2026-05-26 01:05:07.904 | INFO | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0 +[2026-05-26 01:05:34,483] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k) +[2026-05-26 01:05:35,265] INFO [timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k] Safe alternative available for 'pytorch_model.bin' (as 'model.safetensors'). Loading weights using safetensors. +[2026-05-26 01:07:26,938] INFO Number of parameters in DiT: 1.821428e+07 +[2026-05-26 01:07:45,931] INFO Loaded generic psi-policy checkpoint | target=psi_policy.policy.psi_policy.PsiPolicy | obs_keys=['rgb_head', 'rgb_wrist', 'robot_state', 'text_context'] | action_horizon=16 | action_dim=8 +[2026-05-26 01:07:45,940] INFO Loaded MolmoSpaces policy | checkpoint=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt | target=psi_policy.policy.psi_policy.PsiPolicy | device=cuda:0 | action_chunk_size=8 +[05/26 01:07:49 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:14:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 3613 episode 0 object objadecorativechain_920dd47d98484df4a23b8dee1b378c6a_1_0_4 completed with success=False +[05/26 01:14:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +[05/26 01:16:19 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:22:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 3613 episode 1 object objacorkscrew_dd933eddfb3d4750b7e448c06b4f5b9b_1_0_9 completed with success=False +[05/26 01:22:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3613: 2 episodes +[05/26 01:22:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:22:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:22:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:22:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:22:58 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_3613 +[05/26 01:22:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3613 in 7.29s (batch: 6.88s, save: 0.42s) +[05/26 01:22:59 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3613 +[05/26 01:22:59 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3613: 0/2 successful episodes +[05/26 01:22:59 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3654 (index 1/42) +[05/26 01:22:59 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3654 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 01:22:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +[05/26 01:23:07 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativepiece_93f70ada5c2749df8be5fb5626996ddb_1_0_2 in scene +[05/26 01:23:07 Worker 0 WARNING object_manager.py:1238] Could not find object cup_9df8195c6a720a832db419cda59aabee_1_0_2 in scene +[05/26 01:23:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:26:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 3654 episode 0 object objacoilspring_5fbce9acb31c4fabb46a7420de72f661_2_0_8 completed with success=False +[05/26 01:26:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3654: 1 episodes +[05/26 01:26:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:26:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:26:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_3654 +[05/26 01:26:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3654 in 2.15s (batch: 2.06s, save: 0.09s) +[05/26 01:26:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3654 +[05/26 01:26:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3654: 0/1 successful episodes +[05/26 01:26:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3698 (index 2/42) +[05/26 01:26:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3698 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 01:26:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +[2026-05-26 01:31:37,951] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/huggingface_hub/file_download.py:945: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`. + warnings.warn( +[05/26 01:35:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 3698 episode 0 object Irishpotato_19394b332cf16c9d218c9f434ecf9c48_1_0_6 completed with success=False +[05/26 01:35:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3698: 1 episodes +[05/26 01:35:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:35:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:35:29 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_3698 +[05/26 01:35:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3698 in 3.83s (batch: 3.67s, save: 0.16s) +[05/26 01:35:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3698 +[05/26 01:35:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3698: 0/1 successful episodes +[05/26 01:35:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3764 (index 3/42) +[05/26 01:35:30 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3764 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 01:35:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/6 [00:00 does not support tracking retries. +[2026-05-26 01:37:25,646] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 01:38:13 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:42:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 3764 episode 0 object objamedallion_5a82fc538d6a4e3e892fc154b97db567_1_0_2 completed with success=False +[05/26 01:42:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3764: 1 episodes +[05/26 01:42:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:42:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:42:43 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_3764 +[05/26 01:42:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3764 in 2.60s (batch: 2.50s, save: 0.10s) +[05/26 01:42:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3764 +[05/26 01:42:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3764: 0/1 successful episodes +[05/26 01:42:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3794 (index 4/42) +[05/26 01:42:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3794 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 01:42:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +[2026-05-26 01:47:20,336] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 01:47:39 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:49:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 3794 episode 0 object objadish_6b1974fb0d09499f9b3af20884c706f5_1_0_6 completed with success=False +[05/26 01:49:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3794: 1 episodes +[05/26 01:49:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:49:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:49:43 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_3794 +[05/26 01:49:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3794 in 2.14s (batch: 2.05s, save: 0.09s) +[05/26 01:49:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3794 +[05/26 01:49:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3794: 0/1 successful episodes +[05/26 01:49:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3881 (index 5/42) +[05/26 01:49:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3881 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 01:49:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +[05/26 01:55:31 Worker 0 WARNING object_manager.py:1238] Could not find object objafossilslab_6d4fbdf94fdd4665b6b43c024300b0e7_1_0_6 in scene +[2026-05-26 01:56:31,966] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 01:57:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:03:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 3881 episode 0 object objacleaningbottle_45049b8d74a44f239fe1d1403cf98b49_1_0_6 completed with success=False +[05/26 02:03:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3881: 1 episodes +[05/26 02:03:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:03:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:03:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_3881 +[05/26 02:03:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3881 in 4.07s (batch: 3.89s, save: 0.18s) +[05/26 02:03:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3881 +[05/26 02:03:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3881: 0/1 successful episodes +[05/26 02:03:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3911 (index 6/42) +[05/26 02:03:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3911 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 02:03:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +[2026-05-26 02:06:27,475] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:07:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:11:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 3911 episode 0 object objakeyholder_7e8733261a034ef5b0302f1ee2fe2554_1_0_7 completed with success=False +[05/26 02:11:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3911: 1 episodes +[05/26 02:11:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:11:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:11:15 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_3911 +[05/26 02:11:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3911 in 2.59s (batch: 2.46s, save: 0.13s) +[05/26 02:11:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3911 +[05/26 02:11:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3911: 0/1 successful episodes +[05/26 02:11:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3957 (index 7/42) +[05/26 02:11:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3957 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 02:11:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/17 [00:00 does not support tracking retries. +[05/26 02:11:21 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeplant_8df90a175a73420a856c3c9cacc7fb8b_1_0_2 in scene +[05/26 02:11:21 Worker 0 WARNING object_manager.py:1238] Could not find object Irishpotato_19394b332cf16c9d218c9f434ecf9c48_1_0_2 in scene +[2026-05-26 02:13:21,265] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:14:08 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:15:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 3957 episode 0 object cup_10a41d8e2f259cb0d60e0069b1683f0a_1_0_2 completed with success=True +[05/26 02:15:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3957: 1 episodes +[05/26 02:15:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 117 timesteps +[05/26 02:15:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:15:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_3957 +[05/26 02:15:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3957 in 2.87s (batch: 2.78s, save: 0.09s) +[05/26 02:15:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3957 +[05/26 02:15:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3957: 1/1 successful episodes +[05/26 02:15:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3995 (index 8/42) +[05/26 02:15:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3995 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 02:15:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +[05/26 02:15:43 Worker 0 WARNING object_manager.py:1238] Could not find object objatissuebox_65d3d9a616c544f2b57f91c23ce4d68b_1_0_7 in scene +[2026-05-26 02:17:18,465] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:21:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 3995 episode 0 object objacanopener_59a4d5ccb6cb449ab0b2c6ab2be80d2e_1_0_7 completed with success=False +[05/26 02:21:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3995: 1 episodes +[05/26 02:21:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:21:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:21:12 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_3995 +[05/26 02:21:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3995 in 3.00s (batch: 2.89s, save: 0.11s) +[05/26 02:21:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3995 +[05/26 02:21:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3995: 0/1 successful episodes +[05/26 02:21:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4038 (index 9/42) +[05/26 02:21:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4038 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 02:21:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +[2026-05-26 02:23:03,032] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:30:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 4038 episode 0 object objaammunition_b61e46bd1fa64f54a74c45716ab23979_1_0_2 completed with success=False +[05/26 02:30:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4038: 1 episodes +[05/26 02:30:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:30:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:30:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4038 +[05/26 02:30:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4038 in 3.12s (batch: 2.97s, save: 0.15s) +[05/26 02:30:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4038 +[05/26 02:30:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4038: 0/1 successful episodes +[05/26 02:30:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4097 (index 10/42) +[05/26 02:30:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4097 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 02:30:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +[2026-05-26 02:31:57,682] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:32:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:37:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 4097 episode 0 object objafoodpacket_a784c3ce29d44a899afe3f80a20e4fec_1_0_2 completed with success=False +[05/26 02:37:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4097: 1 episodes +[05/26 02:37:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:37:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:37:28 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4097 +[05/26 02:37:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4097 in 2.89s (batch: 2.76s, save: 0.12s) +[05/26 02:37:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4097 +[05/26 02:37:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4097: 0/1 successful episodes +[05/26 02:37:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4108 (index 11/42) +[05/26 02:37:29 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4108 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 02:37:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +[2026-05-26 02:39:50,125] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:41:14 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:48:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 4108 episode 0 object objastonetool_7e12d60c307948c787db921d89ab484e_1_0_7 completed with success=False +[05/26 02:48:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +[2026-05-26 02:50:18,231] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:51:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:55:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 4108 episode 1 object objasecuritydevice_dd640cbe9b2444ecb928d3b5b0e67956_1_0_8 completed with success=False +[05/26 02:55:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4108: 2 episodes +[05/26 02:55:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:55:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:55:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:55:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:55:47 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4108 +[05/26 02:55:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4108 in 9.81s (batch: 9.54s, save: 0.27s) +[05/26 02:55:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4108 +[05/26 02:55:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4108: 0/2 successful episodes +[05/26 02:55:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4158 (index 12/42) +[05/26 02:55:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4158 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 02:55:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 does not support tracking retries. +[05/26 02:56:01 Worker 0 WARNING object_manager.py:1238] Could not find object objacleaningsponge_97aee64edf0c4521b82416f3b30c61ce_1_0_2 in scene +[05/26 02:56:01 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_f0846a72f73828807b0c951bdb6dfbba_1_0_2 in scene +[2026-05-26 02:58:33,511] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:00:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:06:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 4158 episode 0 object objamarblesculpture_969d17f91b324a6c9e0b1d1f649a1463_1_0_6 completed with success=False +[05/26 03:06:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4158: 1 episodes +[05/26 03:06:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:06:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:06:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4158 +[05/26 03:06:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4158 in 3.77s (batch: 3.47s, save: 0.29s) +[05/26 03:06:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4158 +[05/26 03:06:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4158: 0/1 successful episodes +[05/26 03:06:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4255 (index 13/42) +[05/26 03:06:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4255 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 03:06:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +[05/26 03:06:49 Worker 0 WARNING object_manager.py:1238] Could not find object objatooth_4ec84bfdbbec4663b9a730ef943e0768_1_0_7 in scene +[05/26 03:06:49 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativecandle_0c791ace8deb4316bd377aa7fb553517_1_0_7 in scene +[2026-05-26 03:09:10,768] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:10:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:15:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 4255 episode 0 object objastonetool_0d64f72ecbea4c5fb37b0a41f6f458d5_1_0_9 completed with success=False +[05/26 03:15:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4255: 1 episodes +[05/26 03:15:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:15:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:15:29 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4255 +[05/26 03:15:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4255 in 3.00s (batch: 2.87s, save: 0.12s) +[05/26 03:15:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4255 +[05/26 03:15:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4255: 0/1 successful episodes +[05/26 03:15:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4316 (index 14/42) +[05/26 03:15:30 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4316 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 03:15:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/17 [00:00 does not support tracking retries. +[2026-05-26 03:17:20,206] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:22:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 4316 episode 0 object objabouquet_8dab593c78374d59abcf66c8185249cb_1_0_3 completed with success=True +[05/26 03:22:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4316: 1 episodes +[05/26 03:22:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 370 timesteps +[05/26 03:22:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:22:24 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4316 +[05/26 03:22:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4316 in 2.94s (batch: 2.85s, save: 0.09s) +[05/26 03:22:25 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4316 +[05/26 03:22:25 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4316: 1/1 successful episodes +[05/26 03:22:25 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4359 (index 15/42) +[05/26 03:22:25 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4359 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 03:22:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/34 [00:00 does not support tracking retries. +[2026-05-26 03:23:45,187] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:24:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:27:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 4359 episode 0 object objacheesecake_f656e887c0844a23aa5df47eaf76d63e_1_0_8 completed with success=False +[05/26 03:27:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4359: 1 episodes +[05/26 03:27:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:27:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:27:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4359 +[05/26 03:27:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4359 in 3.68s (batch: 3.50s, save: 0.18s) +[05/26 03:27:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4359 +[05/26 03:27:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4359: 0/1 successful episodes +[05/26 03:27:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4390 (index 16/42) +[05/26 03:27:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4390 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 03:27:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +[05/26 03:27:32 Worker 0 WARNING object_manager.py:1238] Could not find object objaspindle_cf27bc1815e44fac9abb6bc66065dda4_1_0_2 in scene +[05/26 03:27:32 Worker 0 WARNING object_manager.py:1238] Could not find object apple_87e4661e0aaedff69f751b5ac78bd93c_1_0_2 in scene +[2026-05-26 03:29:43,625] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:30:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:36:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 4390 episode 0 object objadecorativemolding_e8abdfe4286045ae8262f9122ad077a9_1_0_6 completed with success=False +[05/26 03:36:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4390: 1 episodes +[05/26 03:36:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:36:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:36:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4390 +[05/26 03:36:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4390 in 4.28s (batch: 4.07s, save: 0.21s) +[05/26 03:36:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4390 +[05/26 03:36:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4390: 0/1 successful episodes +[05/26 03:36:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4433 (index 17/42) +[05/26 03:36:54 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4433 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 03:36:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/26 03:37:17 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingpanel_8bde878be8dd4fb7b6914db9c4dd31bb_1_0_3 in scene +[05/26 03:37:17 Worker 0 WARNING object_manager.py:1238] Could not find object objatapedispenser_44f566f4b8a34fd7b904dd55359017ed_1_0_5 in scene +[05/26 03:37:17 Worker 0 WARNING object_manager.py:1238] Could not find object objadispenser_dae48a392c5a4f3aa00235e664ee7d4d_1_0_5 in scene +[2026-05-26 03:39:37,734] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:40:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:45:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 4433 episode 0 object objamountingbracket_39d9fb9c81b84ac0a0410235c8c85319_2_0_6 completed with success=False +[05/26 03:45:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/26 03:45:56 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingpanel_8bde878be8dd4fb7b6914db9c4dd31bb_1_0_3 in scene +[05/26 03:45:56 Worker 0 WARNING object_manager.py:1238] Could not find object objatapedispenser_44f566f4b8a34fd7b904dd55359017ed_1_0_5 in scene +[05/26 03:45:56 Worker 0 WARNING object_manager.py:1238] Could not find object objadispenser_dae48a392c5a4f3aa00235e664ee7d4d_1_0_5 in scene +[2026-05-26 03:47:20,948] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:48:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:53:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 4433 episode 1 object objasugarbowl_9b683d621e1b4ca384050d16215b1f5b_1_0_2 completed with success=False +[05/26 03:53:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4433: 2 episodes +[05/26 03:53:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:53:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:53:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:53:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:53:47 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4433 +[05/26 03:53:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4433 in 6.90s (batch: 6.60s, save: 0.29s) +[05/26 03:53:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4433 +[05/26 03:53:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4433: 0/2 successful episodes +[05/26 03:53:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4439 (index 18/42) +[05/26 03:53:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4439 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 03:53:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +[2026-05-26 03:55:39,050] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:56:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:00:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 4439 episode 0 object objalemonsqueezer_5679cddc744c4f39b731890788405de6_1_0_6 completed with success=False +[05/26 04:00:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4439: 1 episodes +[05/26 04:00:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:00:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:00:28 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4439 +[05/26 04:00:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4439 in 3.12s (batch: 2.98s, save: 0.13s) +[05/26 04:00:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4439 +[05/26 04:00:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4439: 0/1 successful episodes +[05/26 04:00:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4507 (index 19/42) +[05/26 04:00:29 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4507 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 04:00:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[2026-05-26 04:02:41,249] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:04:08 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:07:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 4507 episode 0 object vase_485850bef5e28630dd1156aaec2e3528_1_0_4 completed with success=False +[05/26 04:07:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4507: 1 episodes +[05/26 04:07:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:07:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:07:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4507 +[05/26 04:07:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4507 in 2.57s (batch: 2.45s, save: 0.12s) +[05/26 04:07:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4507 +[05/26 04:07:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4507: 0/1 successful episodes +[05/26 04:07:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4551 (index 20/42) +[05/26 04:07:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4551 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 04:07:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +[05/26 04:08:08 Worker 0 WARNING object_manager.py:1238] Could not find object box_70f31162bf3c1176ddc74f3417271d3f_1_0_3 in scene +[05/26 04:08:08 Worker 0 WARNING object_manager.py:1238] Could not find object objahikingshoe_41c91f680a55496ca83144519402c2f6_1_0_5 in scene +[2026-05-26 04:10:20,251] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:11:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:20:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 4551 episode 0 object objadriedfish_b94ddf2091234161818b07461044cb2f_1_0_2 completed with success=False +[05/26 04:20:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4551: 1 episodes +[05/26 04:20:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:20:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:20:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4551 +[05/26 04:20:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4551 in 3.35s (batch: 3.20s, save: 0.16s) +[05/26 04:20:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4551 +[05/26 04:20:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4551: 0/1 successful episodes +[05/26 04:20:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4619 (index 21/42) +[05/26 04:20:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4619 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 04:20:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +[2026-05-26 04:22:34,134] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:22:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:25:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 4619 episode 0 object objaheadpiece_2d4d3d4f56d345bcaafdf60a5a19741f_1_0_2 completed with success=False +[05/26 04:25:35 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4619: 1 episodes +[05/26 04:25:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:25:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:25:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4619 +[05/26 04:25:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4619 in 2.61s (batch: 2.49s, save: 0.13s) +[05/26 04:25:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4619 +[05/26 04:25:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4619: 0/1 successful episodes +[05/26 04:25:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4682 (index 22/42) +[05/26 04:25:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4682 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 04:25:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +[2026-05-26 04:27:47,546] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:32:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 4682 episode 0 object objagrenade_d61768fbc7494143bb87852c36d1beaa_1_0_4 completed with success=False +[05/26 04:32:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4682: 1 episodes +[05/26 04:32:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:33:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:33:01 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4682 +[05/26 04:33:01 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4682 in 4.05s (batch: 3.85s, save: 0.20s) +[05/26 04:33:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4682 +[05/26 04:33:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4682: 0/1 successful episodes +[05/26 04:33:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4715 (index 23/42) +[05/26 04:33:02 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4715 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 04:33:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +[2026-05-26 04:34:45,869] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:35:14 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:37:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 4715 episode 0 object objawoodencarving_6589b07c9b2d49778e08d7e6110c04c6_1_0_7 completed with success=False +[05/26 04:38:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4715: 1 episodes +[05/26 04:38:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:38:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:38:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4715 +[05/26 04:38:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4715 in 2.63s (batch: 2.49s, save: 0.14s) +[05/26 04:38:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4715 +[05/26 04:38:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4715: 0/1 successful episodes +[05/26 04:38:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4749 (index 24/42) +[05/26 04:38:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4749 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 04:38:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +[2026-05-26 04:39:18,162] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:41:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 4749 episode 0 object objamount_b44ed71003e149cc98576162a09d588c_1_0_2 completed with success=False +[05/26 04:41:46 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4749: 1 episodes +[05/26 04:41:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:41:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:41:49 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4749 +[05/26 04:41:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4749 in 2.59s (batch: 2.47s, save: 0.13s) +[05/26 04:41:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4749 +[05/26 04:41:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4749: 0/1 successful episodes +[05/26 04:41:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4792 (index 25/42) +[05/26 04:41:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4792 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 04:41:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/8 [00:00 does not support tracking retries. +[2026-05-26 04:43:46,826] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:44:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:47:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 4792 episode 0 object objaairblower_c1894126b3394345835758d674b7435e_1_0_2 completed with success=False +[05/26 04:47:50 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4792: 1 episodes +[05/26 04:47:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:47:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:47:54 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4792 +[05/26 04:47:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4792 in 3.63s (batch: 3.41s, save: 0.22s) +[05/26 04:47:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4792 +[05/26 04:47:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4792: 0/1 successful episodes +[05/26 04:47:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4819 (index 26/42) +[05/26 04:47:55 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4819 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 04:47:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +[05/26 04:48:04 Worker 0 WARNING object_manager.py:1238] Could not find object objahandrailendcap_54719855275e49439cf3c5ba812d8653_1_0_2 in scene +[05/26 04:48:04 Worker 0 WARNING object_manager.py:1238] Could not find object objasmokegrenade_6a086a3c3a324ffa90f3187c03c83ffb_1_0_2 in scene +[2026-05-26 04:49:53,466] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:50:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:53:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 4819 episode 0 object objahandheldtool_a4d19db995b5462ebf75c3d9aa9c8d25_1_0_2 completed with success=True +[05/26 04:53:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4819: 1 episodes +[05/26 04:53:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 429 timesteps +[05/26 04:53:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:53:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4819 +[05/26 04:53:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4819 in 2.68s (batch: 2.55s, save: 0.12s) +[05/26 04:53:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4819 +[05/26 04:53:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4819: 1/1 successful episodes +[05/26 04:53:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4837 (index 27/42) +[05/26 04:53:14 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4837 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 04:53:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[05/26 04:53:21 Worker 0 WARNING object_manager.py:1238] Could not find object houseplant_dcbdb95728216d04e9812af06a792bb7_1_0_9 in scene +[05/26 04:53:21 Worker 0 WARNING object_manager.py:1238] Could not find object plate_3a462adb63be096cddd3c836fdb52686_1_0_9 in scene +[2026-05-26 04:54:39,766] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:55:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:58:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 4837 episode 0 object objabowtie_09095656ad6243c08d4efdf20e43de8d_1_0_9 completed with success=False +[05/26 04:58:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[05/26 04:58:20 Worker 0 WARNING object_manager.py:1238] Could not find object houseplant_dcbdb95728216d04e9812af06a792bb7_1_0_9 in scene +[05/26 04:58:20 Worker 0 WARNING object_manager.py:1238] Could not find object plate_3a462adb63be096cddd3c836fdb52686_1_0_9 in scene +[2026-05-26 05:00:31,243] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:05:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 4837 episode 1 object objastylus_afd41dae770041319dec594ab1d3df79_1_0_6 completed with success=False +[05/26 05:05:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4837: 2 episodes +[05/26 05:05:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:05:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:05:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:05:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:05:23 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4837 +[05/26 05:05:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4837 in 7.44s (batch: 7.21s, save: 0.23s) +[05/26 05:05:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4837 +[05/26 05:05:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4837: 0/2 successful episodes +[05/26 05:05:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4880 (index 28/42) +[05/26 05:05:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4880 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 05:05:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +[05/26 05:05:39 Worker 0 WARNING object_manager.py:1238] Could not find object tomato_d8374542ffb24dad411e5cff170ec0f6_1_0_2 in scene +[2026-05-26 05:07:32,860] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:15:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 4880 episode 0 object objastamp_34a49861e7744acfb71de471a755e917_1_0_7 completed with success=False +[05/26 05:15:06 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4880: 1 episodes +[05/26 05:15:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:15:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:15:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4880 +[05/26 05:15:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4880 in 4.02s (batch: 3.83s, save: 0.18s) +[05/26 05:15:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4880 +[05/26 05:15:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4880: 0/1 successful episodes +[05/26 05:15:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4960 (index 29/42) +[05/26 05:15:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4960 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 05:15:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/14 [00:00 does not support tracking retries. +[2026-05-26 05:17:34,856] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:18:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:21:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 4960 episode 0 object objabluetoothspeaker_8280c95c7e1f413489cf7e52db89bf93_1_0_3 completed with success=False +[05/26 05:21:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4960: 1 episodes +[05/26 05:21:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:21:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:21:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4960 +[05/26 05:21:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4960 in 2.64s (batch: 2.52s, save: 0.12s) +[05/26 05:21:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4960 +[05/26 05:21:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4960: 0/1 successful episodes +[05/26 05:21:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5006 (index 30/42) +[05/26 05:21:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5006 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 05:21:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +[2026-05-26 05:23:49,337] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:25:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:29:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 5006 episode 0 object objadomino_c97ea56f249340cea90c4f66e84108dc_1_0_4 completed with success=False +[05/26 05:30:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5006: 1 episodes +[05/26 05:30:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:30:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:30:06 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5006 +[05/26 05:30:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5006 in 4.03s (batch: 3.85s, save: 0.18s) +[05/26 05:30:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5006 +[05/26 05:30:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5006: 0/1 successful episodes +[05/26 05:30:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5068 (index 31/42) +[05/26 05:30:07 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5068 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 05:30:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +[2026-05-26 05:32:10,269] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:33:44 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:37:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 5068 episode 0 object objaplayingcard_76e975ae10fb435da53120fb7d8bf835_1_0_6 completed with success=False +[05/26 05:37:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5068: 1 episodes +[05/26 05:37:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:37:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:37:25 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5068 +[05/26 05:37:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5068 in 2.60s (batch: 2.38s, save: 0.22s) +[05/26 05:37:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5068 +[05/26 05:37:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5068: 0/1 successful episodes +[05/26 05:37:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5134 (index 32/42) +[05/26 05:37:26 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5134 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 05:37:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/13 [00:00 does not support tracking retries. +[2026-05-26 05:38:52,060] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:42:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 5134 episode 0 object objaemblem_d946fb54e46e4db7979bbb6fcf65fc32_1_0_3 completed with success=False +[05/26 05:42:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5134: 1 episodes +[05/26 05:42:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:42:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:42:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5134 +[05/26 05:42:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5134 in 3.23s (batch: 3.04s, save: 0.20s) +[05/26 05:42:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5134 +[05/26 05:42:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5134: 0/1 successful episodes +[05/26 05:42:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5173 (index 33/42) +[05/26 05:42:36 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 5173 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 05:42:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +[05/26 05:42:53 Worker 0 WARNING object_manager.py:1238] Could not find object objavirusmodel_b74bf64ba5c24b83b0dfffc944d8d20d_1_0_4 in scene +[05/26 05:42:53 Worker 0 WARNING object_manager.py:1238] Could not find object objamagnet_a734ce1339d44d2fbad906439777be78_1_0_4 in scene +[05/26 05:42:53 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturetower_f304563fd62241368b13c271ff4cc41d_1_0_5 in scene +[05/26 05:42:53 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaperroll_e1cf65984fff46168396e0b74861f845_1_0_5 in scene +[05/26 05:42:53 Worker 0 WARNING object_manager.py:1238] Could not find object objatoyfish_40002de7ecf64a82af4abbbec26171b6_1_0_7 in scene +[2026-05-26 05:45:13,973] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:46:23 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:51:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 5173 episode 0 object objacheese_150156b49a984e5d9c0e672894da5a3e_1_0_2 completed with success=False +[05/26 05:51:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +[05/26 05:51:17 Worker 0 WARNING object_manager.py:1238] Could not find object objavirusmodel_b74bf64ba5c24b83b0dfffc944d8d20d_1_0_4 in scene +[05/26 05:51:17 Worker 0 WARNING object_manager.py:1238] Could not find object objamagnet_a734ce1339d44d2fbad906439777be78_1_0_4 in scene +[05/26 05:51:17 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturetower_f304563fd62241368b13c271ff4cc41d_1_0_5 in scene +[05/26 05:51:17 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaperroll_e1cf65984fff46168396e0b74861f845_1_0_5 in scene +[05/26 05:51:17 Worker 0 WARNING object_manager.py:1238] Could not find object objatoyfish_40002de7ecf64a82af4abbbec26171b6_1_0_7 in scene +[2026-05-26 05:53:13,470] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:58:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 5173 episode 1 object objanutcracker_94c36df60580408ea582ad83c55cdca0_1_0_8 completed with success=False +[05/26 05:58:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5173: 2 episodes +[05/26 05:58:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:59:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:59:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:59:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:59:04 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5173 +[05/26 05:59:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5173 in 5.15s (batch: 4.93s, save: 0.22s) +[05/26 05:59:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5173 +[05/26 05:59:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5173: 0/2 successful episodes +[05/26 05:59:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5185 (index 34/42) +[05/26 05:59:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5185 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 05:59:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +[05/26 05:59:23 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingpanel_a3d6f7df9ff94ed59f95d5086d5f3fdd_1_0_4 in scene +[2026-05-26 06:01:05,646] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:04:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 5185 episode 0 object vase_0db9e9dc4d41a9e8ceaa58f142da5baa_1_0_6 completed with success=False +[05/26 06:04:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5185: 1 episodes +[05/26 06:04:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:04:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:04:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5185 +[05/26 06:04:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5185 in 4.02s (batch: 3.88s, save: 0.14s) +[05/26 06:04:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5185 +[05/26 06:04:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5185: 0/1 successful episodes +[05/26 06:04:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5242 (index 35/42) +[05/26 06:04:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5242 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 06:04:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +[2026-05-26 06:06:37,882] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:08:03 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:12:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 5242 episode 0 object objagpsdevice_5ec82b191b4d44b299cb1fcea0308296_1_0_4 completed with success=False +[05/26 06:12:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5242: 1 episodes +[05/26 06:12:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:12:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:12:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5242 +[05/26 06:12:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5242 in 3.77s (batch: 3.55s, save: 0.21s) +[05/26 06:12:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5242 +[05/26 06:12:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5242: 0/1 successful episodes +[05/26 06:12:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5320 (index 36/42) +[05/26 06:12:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5320 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 06:12:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[2026-05-26 06:14:41,211] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:15:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:19:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 5320 episode 0 object objafibercleaver_1b640217473f40508802bc5a114f876d_1_0_9 completed with success=False +[05/26 06:19:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5320: 1 episodes +[05/26 06:19:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:19:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:19:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5320 +[05/26 06:19:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5320 in 3.97s (batch: 3.79s, save: 0.17s) +[05/26 06:19:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5320 +[05/26 06:19:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5320: 0/1 successful episodes +[05/26 06:19:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5401 (index 37/42) +[05/26 06:19:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5401 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 06:19:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/53 [00:00 does not support tracking retries. +[2026-05-26 06:22:05,966] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:23:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:26:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 5401 episode 0 object objabutton_d11a2951f1d24e458c6d5a6b3f79db73_1_0_8 completed with success=False +[05/26 06:26:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5401: 1 episodes +[05/26 06:26:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:26:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:26:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5401 +[05/26 06:26:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5401 in 2.43s (batch: 2.32s, save: 0.12s) +[05/26 06:26:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5401 +[05/26 06:26:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5401: 0/1 successful episodes +[05/26 06:26:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5436 (index 38/42) +[05/26 06:26:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5436 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 06:26:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[2026-05-26 06:27:51,406] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:28:34 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:32:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 5436 episode 0 object objaplaque_5e188d3eda424161a355de45abcdf4e4_1_0_6 completed with success=False +[05/26 06:33:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5436: 1 episodes +[05/26 06:33:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:33:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:33:03 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5436 +[05/26 06:33:03 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5436 in 2.32s (batch: 2.23s, save: 0.09s) +[05/26 06:33:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5436 +[05/26 06:33:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5436: 0/1 successful episodes +[05/26 06:33:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5481 (index 39/42) +[05/26 06:33:03 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5481 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 06:33:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/63 [00:00 does not support tracking retries. +[05/26 06:33:16 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_4 in scene +[05/26 06:33:16 Worker 0 WARNING object_manager.py:1238] Could not find object objabarcodescanner_20b0d715334944feacba1342856c03a0_1_0_6 in scene +[2026-05-26 06:34:25,372] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:34:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:39:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 5481 episode 0 object objaflask_c0b5678842064353972d518a67f1ff13_1_0_2 completed with success=False +[05/26 06:39:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5481: 1 episodes +[05/26 06:39:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:39:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:39:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5481 +[05/26 06:39:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5481 in 3.04s (batch: 2.94s, save: 0.09s) +[05/26 06:39:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5481 +[05/26 06:39:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5481: 0/1 successful episodes +[05/26 06:39:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5509 (index 40/42) +[05/26 06:39:19 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5509 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 06:39:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/9 [00:00 does not support tracking retries. +[2026-05-26 06:41:32,242] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:42:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:45:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 5509 episode 0 object objahinge_4587c40e36704e7a96ffebad95028160_1_0_2 completed with success=False +[05/26 06:45:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5509: 1 episodes +[05/26 06:45:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:45:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:45:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5509 +[05/26 06:45:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5509 in 2.91s (batch: 2.80s, save: 0.11s) +[05/26 06:45:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5509 +[05/26 06:45:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5509: 0/1 successful episodes +[05/26 06:45:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5549 (index 41/42) +[05/26 06:45:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5549 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 06:45:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[05/26 06:45:33 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturetower_0780a7e5369442c3967681084a046588_1_0_7 in scene +[05/26 06:45:33 Worker 0 WARNING object_manager.py:1238] Could not find object objaband_eca69b5af4c44fb0bf968b343efad030_1_0_7 in scene +[05/26 06:45:33 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_8c6e5265f19b49709119c2628c2bdf3f_1_0_7 in scene +[2026-05-26 06:46:38,755] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:49:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 5549 episode 0 object objahumanhandmodel_8fb51276bf0e42fca8a554c2e2ea687e_1_0_9 completed with success=False +[05/26 06:49:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5549: 1 episodes +[05/26 06:49:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:49:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:49:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5549 +[05/26 06:49:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5549 in 2.82s (batch: 2.72s, save: 0.11s) +[05/26 06:49:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5549 +[05/26 06:49:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5549: 0/1 successful episodes +[05/26 06:49:36 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses +[05/26 06:49:36 INFO pipeline.py:1496] Completed 42 houses, skipped 0 houses +[05/26 06:49:36 INFO pipeline.py:1499] Success count: 3, Total count: 47 +[05/26 06:49:36 INFO pipeline.py:1500] Success rate: 6.38% +Combined 47 episodes from 42 files → /tmp/tmp56sfkbfw.h5 + +Saved → /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/results.csv at-end: 6.38% | oracle: 6.38% of 47 episodes +[2026-05-26 06:49:41,813] INFO MolmoSpaces simulator eval finished: success=3/47 rate=0.0638 output=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval +[2026-05-26 06:49:41,814] INFO Benchmark CSV: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/results.csv + +Submission artifacts ready: + CSV : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/submission/results.csv + Bundle zip : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/submission_bundle.zip + Summary : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/submission/summary.json + Full eval output : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval + Repro command : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/run_command.sh diff --git a/pnp_v2/pnp_v2/shards/shard_04/run.log b/pnp_v2/pnp_v2/shards/shard_04/run.log new file mode 100644 index 0000000000000000000000000000000000000000..b16c9ab9f6db8a12b6803829130960283f6174f8 --- /dev/null +++ b/pnp_v2/pnp_v2/shards/shard_04/run.log @@ -0,0 +1,1661 @@ +[2026-05-26 01:03:53,519] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath'] +[2026-05-26 01:03:53,583] INFO Selected MuJoCo backend: egl +[2026-05-26 01:03:53,645] INFO Using MolmoSpaces benchmark: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 (source=arg) +[2026-05-26 01:03:56,468] INFO No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +[nltk_data] Downloading package wordnet to /home/yuanpei/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /home/yuanpei/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +[2026-05-26 01:04:10,977] INFO ResourceManager (R2RemoteStorage('https://pub-3555e9bb2d304fab9c6c79819e48aa40.r2.dev')) using: + symlink_dir=/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets + cache_dir=/home/yuanpei/.cache/molmo-spaces-resources + force_install=True +/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py:129: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +[2026-05-26 01:04:40,137] INFO Requested MolmoSpaces simulator cameras: ['droid_shoulder_light_randomization', 'wrist_camera_zed_mini'] +[2026-05-26 01:04:40,140] INFO Using save_video_sensors=['__none__'] +[2026-05-26 01:04:43,584] INFO Resolved MolmoSpaces action semantics from checkpoint: source=pnp_next_to_v2 type=molmo_raw arm_action_key=joint_pos_rel gripper_action_key=joint_pos action_type=joint_pos_rel arm_command_mode=joint_rel_position +[2026-05-26 01:04:43,661] INFO Using explicit task_horizon override: 450 steps +[05/26 01:04:43 INFO pipeline.py:677] WandB logging disabled (environment variables not set) +[2026-05-26 01:04:43,744] INFO JsonEvalRunner initialized: 42 houses, 47 episodes from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 01:04:43 INFO pipeline.py:1279] Starting house-by-house rollout of 42 houses with 2 episodes each (84 total episodes) using 1 worker processes +[05/26 01:04:43 INFO pipeline.py:1286] Evaluation configuration: +[05/26 01:04:43 INFO pipeline.py:1287] {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['droid_shoulder_light_randomization', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 'wan_molmobot_franka', + 'obs_camera_name': 'droid_shoulder_light_randomization', + 'obs_image_key': 'rgb_head', + 'obs_state_key': 'robot_state', + 'obs_wrist_camera_name': 'wrist_camera_zed_mini', + 'obs_wrist_image_key': 'rgb_wrist', + 'policy_cls': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [3613, + 3654, + 3698, + 3764, + 3794, + 3881, + 3911, + 3957, + 3995, + 4038, + 4097, + 4108, + 4158, + 4255, + 4316, + 4359, + 4390, + 4433, + 4439, + 4507, + 4551, + 4619, + 4682, + 4715, + 4749, + 4792, + 4819, + 4837, + 4880, + 4960, + 5006, + 5068, + 5134, + 5173, + 5185, + 5242, + 5320, + 5401, + 5436, + 5481, + 5509, + 5549], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} +[2026-05-26 01:04:43,755] INFO Saved experiment configuration to /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443 +[05/26 01:04:43 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler +[05/26 01:04:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/26 01:04:43 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler +[05/26 01:04:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3613 (index 0/42) +[05/26 01:04:43 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 3613 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 01:04:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +2026-05-26 01:05:07.904 | INFO | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0 +[2026-05-26 01:05:34,483] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k) +[2026-05-26 01:05:35,265] INFO [timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k] Safe alternative available for 'pytorch_model.bin' (as 'model.safetensors'). Loading weights using safetensors. +[2026-05-26 01:07:26,938] INFO Number of parameters in DiT: 1.821428e+07 +[2026-05-26 01:07:45,931] INFO Loaded generic psi-policy checkpoint | target=psi_policy.policy.psi_policy.PsiPolicy | obs_keys=['rgb_head', 'rgb_wrist', 'robot_state', 'text_context'] | action_horizon=16 | action_dim=8 +[2026-05-26 01:07:45,940] INFO Loaded MolmoSpaces policy | checkpoint=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt | target=psi_policy.policy.psi_policy.PsiPolicy | device=cuda:0 | action_chunk_size=8 +[05/26 01:07:49 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:14:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 3613 episode 0 object objadecorativechain_920dd47d98484df4a23b8dee1b378c6a_1_0_4 completed with success=False +[05/26 01:14:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +[05/26 01:16:19 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:22:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 3613 episode 1 object objacorkscrew_dd933eddfb3d4750b7e448c06b4f5b9b_1_0_9 completed with success=False +[05/26 01:22:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3613: 2 episodes +[05/26 01:22:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:22:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:22:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:22:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:22:58 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_3613 +[05/26 01:22:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3613 in 7.29s (batch: 6.88s, save: 0.42s) +[05/26 01:22:59 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3613 +[05/26 01:22:59 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3613: 0/2 successful episodes +[05/26 01:22:59 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3654 (index 1/42) +[05/26 01:22:59 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3654 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 01:22:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +[05/26 01:23:07 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativepiece_93f70ada5c2749df8be5fb5626996ddb_1_0_2 in scene +[05/26 01:23:07 Worker 0 WARNING object_manager.py:1238] Could not find object cup_9df8195c6a720a832db419cda59aabee_1_0_2 in scene +[05/26 01:23:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:26:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 3654 episode 0 object objacoilspring_5fbce9acb31c4fabb46a7420de72f661_2_0_8 completed with success=False +[05/26 01:26:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3654: 1 episodes +[05/26 01:26:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:26:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:26:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_3654 +[05/26 01:26:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3654 in 2.15s (batch: 2.06s, save: 0.09s) +[05/26 01:26:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3654 +[05/26 01:26:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3654: 0/1 successful episodes +[05/26 01:26:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3698 (index 2/42) +[05/26 01:26:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3698 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 01:26:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +[2026-05-26 01:31:37,951] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/huggingface_hub/file_download.py:945: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`. + warnings.warn( +[05/26 01:35:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 3698 episode 0 object Irishpotato_19394b332cf16c9d218c9f434ecf9c48_1_0_6 completed with success=False +[05/26 01:35:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3698: 1 episodes +[05/26 01:35:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:35:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:35:29 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_3698 +[05/26 01:35:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3698 in 3.83s (batch: 3.67s, save: 0.16s) +[05/26 01:35:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3698 +[05/26 01:35:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3698: 0/1 successful episodes +[05/26 01:35:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3764 (index 3/42) +[05/26 01:35:30 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3764 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 01:35:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/6 [00:00 does not support tracking retries. +[2026-05-26 01:37:25,646] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 01:38:13 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:42:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 3764 episode 0 object objamedallion_5a82fc538d6a4e3e892fc154b97db567_1_0_2 completed with success=False +[05/26 01:42:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3764: 1 episodes +[05/26 01:42:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:42:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:42:43 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_3764 +[05/26 01:42:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3764 in 2.60s (batch: 2.50s, save: 0.10s) +[05/26 01:42:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3764 +[05/26 01:42:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3764: 0/1 successful episodes +[05/26 01:42:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3794 (index 4/42) +[05/26 01:42:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3794 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 01:42:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +[2026-05-26 01:47:20,336] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 01:47:39 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:49:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 3794 episode 0 object objadish_6b1974fb0d09499f9b3af20884c706f5_1_0_6 completed with success=False +[05/26 01:49:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3794: 1 episodes +[05/26 01:49:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:49:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:49:43 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_3794 +[05/26 01:49:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3794 in 2.14s (batch: 2.05s, save: 0.09s) +[05/26 01:49:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3794 +[05/26 01:49:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3794: 0/1 successful episodes +[05/26 01:49:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3881 (index 5/42) +[05/26 01:49:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3881 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 01:49:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +[05/26 01:55:31 Worker 0 WARNING object_manager.py:1238] Could not find object objafossilslab_6d4fbdf94fdd4665b6b43c024300b0e7_1_0_6 in scene +[2026-05-26 01:56:31,966] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 01:57:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:03:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 3881 episode 0 object objacleaningbottle_45049b8d74a44f239fe1d1403cf98b49_1_0_6 completed with success=False +[05/26 02:03:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3881: 1 episodes +[05/26 02:03:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:03:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:03:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_3881 +[05/26 02:03:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3881 in 4.07s (batch: 3.89s, save: 0.18s) +[05/26 02:03:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3881 +[05/26 02:03:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3881: 0/1 successful episodes +[05/26 02:03:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3911 (index 6/42) +[05/26 02:03:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3911 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 02:03:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +[2026-05-26 02:06:27,475] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:07:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:11:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 3911 episode 0 object objakeyholder_7e8733261a034ef5b0302f1ee2fe2554_1_0_7 completed with success=False +[05/26 02:11:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3911: 1 episodes +[05/26 02:11:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:11:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:11:15 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_3911 +[05/26 02:11:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3911 in 2.59s (batch: 2.46s, save: 0.13s) +[05/26 02:11:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3911 +[05/26 02:11:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3911: 0/1 successful episodes +[05/26 02:11:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3957 (index 7/42) +[05/26 02:11:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3957 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 02:11:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/17 [00:00 does not support tracking retries. +[05/26 02:11:21 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeplant_8df90a175a73420a856c3c9cacc7fb8b_1_0_2 in scene +[05/26 02:11:21 Worker 0 WARNING object_manager.py:1238] Could not find object Irishpotato_19394b332cf16c9d218c9f434ecf9c48_1_0_2 in scene +[2026-05-26 02:13:21,265] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:14:08 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:15:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 3957 episode 0 object cup_10a41d8e2f259cb0d60e0069b1683f0a_1_0_2 completed with success=True +[05/26 02:15:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3957: 1 episodes +[05/26 02:15:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 117 timesteps +[05/26 02:15:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:15:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_3957 +[05/26 02:15:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3957 in 2.87s (batch: 2.78s, save: 0.09s) +[05/26 02:15:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3957 +[05/26 02:15:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3957: 1/1 successful episodes +[05/26 02:15:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3995 (index 8/42) +[05/26 02:15:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3995 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 02:15:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +[05/26 02:15:43 Worker 0 WARNING object_manager.py:1238] Could not find object objatissuebox_65d3d9a616c544f2b57f91c23ce4d68b_1_0_7 in scene +[2026-05-26 02:17:18,465] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:21:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 3995 episode 0 object objacanopener_59a4d5ccb6cb449ab0b2c6ab2be80d2e_1_0_7 completed with success=False +[05/26 02:21:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3995: 1 episodes +[05/26 02:21:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:21:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:21:12 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_3995 +[05/26 02:21:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3995 in 3.00s (batch: 2.89s, save: 0.11s) +[05/26 02:21:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3995 +[05/26 02:21:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3995: 0/1 successful episodes +[05/26 02:21:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4038 (index 9/42) +[05/26 02:21:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4038 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 02:21:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +[2026-05-26 02:23:03,032] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:30:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 4038 episode 0 object objaammunition_b61e46bd1fa64f54a74c45716ab23979_1_0_2 completed with success=False +[05/26 02:30:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4038: 1 episodes +[05/26 02:30:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:30:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:30:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4038 +[05/26 02:30:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4038 in 3.12s (batch: 2.97s, save: 0.15s) +[05/26 02:30:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4038 +[05/26 02:30:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4038: 0/1 successful episodes +[05/26 02:30:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4097 (index 10/42) +[05/26 02:30:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4097 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 02:30:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +[2026-05-26 02:31:57,682] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:32:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:37:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 4097 episode 0 object objafoodpacket_a784c3ce29d44a899afe3f80a20e4fec_1_0_2 completed with success=False +[05/26 02:37:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4097: 1 episodes +[05/26 02:37:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:37:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:37:28 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4097 +[05/26 02:37:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4097 in 2.89s (batch: 2.76s, save: 0.12s) +[05/26 02:37:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4097 +[05/26 02:37:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4097: 0/1 successful episodes +[05/26 02:37:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4108 (index 11/42) +[05/26 02:37:29 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4108 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 02:37:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +[2026-05-26 02:39:50,125] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:41:14 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:48:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 4108 episode 0 object objastonetool_7e12d60c307948c787db921d89ab484e_1_0_7 completed with success=False +[05/26 02:48:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +[2026-05-26 02:50:18,231] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:51:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:55:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 4108 episode 1 object objasecuritydevice_dd640cbe9b2444ecb928d3b5b0e67956_1_0_8 completed with success=False +[05/26 02:55:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4108: 2 episodes +[05/26 02:55:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:55:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:55:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:55:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:55:47 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4108 +[05/26 02:55:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4108 in 9.81s (batch: 9.54s, save: 0.27s) +[05/26 02:55:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4108 +[05/26 02:55:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4108: 0/2 successful episodes +[05/26 02:55:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4158 (index 12/42) +[05/26 02:55:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4158 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 02:55:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 does not support tracking retries. +[05/26 02:56:01 Worker 0 WARNING object_manager.py:1238] Could not find object objacleaningsponge_97aee64edf0c4521b82416f3b30c61ce_1_0_2 in scene +[05/26 02:56:01 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_f0846a72f73828807b0c951bdb6dfbba_1_0_2 in scene +[2026-05-26 02:58:33,511] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:00:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:06:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 4158 episode 0 object objamarblesculpture_969d17f91b324a6c9e0b1d1f649a1463_1_0_6 completed with success=False +[05/26 03:06:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4158: 1 episodes +[05/26 03:06:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:06:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:06:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4158 +[05/26 03:06:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4158 in 3.77s (batch: 3.47s, save: 0.29s) +[05/26 03:06:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4158 +[05/26 03:06:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4158: 0/1 successful episodes +[05/26 03:06:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4255 (index 13/42) +[05/26 03:06:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4255 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 03:06:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +[05/26 03:06:49 Worker 0 WARNING object_manager.py:1238] Could not find object objatooth_4ec84bfdbbec4663b9a730ef943e0768_1_0_7 in scene +[05/26 03:06:49 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativecandle_0c791ace8deb4316bd377aa7fb553517_1_0_7 in scene +[2026-05-26 03:09:10,768] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:10:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:15:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 4255 episode 0 object objastonetool_0d64f72ecbea4c5fb37b0a41f6f458d5_1_0_9 completed with success=False +[05/26 03:15:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4255: 1 episodes +[05/26 03:15:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:15:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:15:29 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4255 +[05/26 03:15:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4255 in 3.00s (batch: 2.87s, save: 0.12s) +[05/26 03:15:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4255 +[05/26 03:15:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4255: 0/1 successful episodes +[05/26 03:15:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4316 (index 14/42) +[05/26 03:15:30 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4316 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 03:15:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/17 [00:00 does not support tracking retries. +[2026-05-26 03:17:20,206] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:22:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 4316 episode 0 object objabouquet_8dab593c78374d59abcf66c8185249cb_1_0_3 completed with success=True +[05/26 03:22:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4316: 1 episodes +[05/26 03:22:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 370 timesteps +[05/26 03:22:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:22:24 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4316 +[05/26 03:22:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4316 in 2.94s (batch: 2.85s, save: 0.09s) +[05/26 03:22:25 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4316 +[05/26 03:22:25 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4316: 1/1 successful episodes +[05/26 03:22:25 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4359 (index 15/42) +[05/26 03:22:25 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4359 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 03:22:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/34 [00:00 does not support tracking retries. +[2026-05-26 03:23:45,187] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:24:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:27:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 4359 episode 0 object objacheesecake_f656e887c0844a23aa5df47eaf76d63e_1_0_8 completed with success=False +[05/26 03:27:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4359: 1 episodes +[05/26 03:27:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:27:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:27:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4359 +[05/26 03:27:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4359 in 3.68s (batch: 3.50s, save: 0.18s) +[05/26 03:27:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4359 +[05/26 03:27:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4359: 0/1 successful episodes +[05/26 03:27:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4390 (index 16/42) +[05/26 03:27:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4390 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 03:27:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +[05/26 03:27:32 Worker 0 WARNING object_manager.py:1238] Could not find object objaspindle_cf27bc1815e44fac9abb6bc66065dda4_1_0_2 in scene +[05/26 03:27:32 Worker 0 WARNING object_manager.py:1238] Could not find object apple_87e4661e0aaedff69f751b5ac78bd93c_1_0_2 in scene +[2026-05-26 03:29:43,625] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:30:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:36:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 4390 episode 0 object objadecorativemolding_e8abdfe4286045ae8262f9122ad077a9_1_0_6 completed with success=False +[05/26 03:36:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4390: 1 episodes +[05/26 03:36:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:36:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:36:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4390 +[05/26 03:36:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4390 in 4.28s (batch: 4.07s, save: 0.21s) +[05/26 03:36:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4390 +[05/26 03:36:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4390: 0/1 successful episodes +[05/26 03:36:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4433 (index 17/42) +[05/26 03:36:54 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4433 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 03:36:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/26 03:37:17 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingpanel_8bde878be8dd4fb7b6914db9c4dd31bb_1_0_3 in scene +[05/26 03:37:17 Worker 0 WARNING object_manager.py:1238] Could not find object objatapedispenser_44f566f4b8a34fd7b904dd55359017ed_1_0_5 in scene +[05/26 03:37:17 Worker 0 WARNING object_manager.py:1238] Could not find object objadispenser_dae48a392c5a4f3aa00235e664ee7d4d_1_0_5 in scene +[2026-05-26 03:39:37,734] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:40:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:45:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 4433 episode 0 object objamountingbracket_39d9fb9c81b84ac0a0410235c8c85319_2_0_6 completed with success=False +[05/26 03:45:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/26 03:45:56 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingpanel_8bde878be8dd4fb7b6914db9c4dd31bb_1_0_3 in scene +[05/26 03:45:56 Worker 0 WARNING object_manager.py:1238] Could not find object objatapedispenser_44f566f4b8a34fd7b904dd55359017ed_1_0_5 in scene +[05/26 03:45:56 Worker 0 WARNING object_manager.py:1238] Could not find object objadispenser_dae48a392c5a4f3aa00235e664ee7d4d_1_0_5 in scene +[2026-05-26 03:47:20,948] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:48:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:53:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 4433 episode 1 object objasugarbowl_9b683d621e1b4ca384050d16215b1f5b_1_0_2 completed with success=False +[05/26 03:53:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4433: 2 episodes +[05/26 03:53:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:53:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:53:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:53:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:53:47 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4433 +[05/26 03:53:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4433 in 6.90s (batch: 6.60s, save: 0.29s) +[05/26 03:53:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4433 +[05/26 03:53:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4433: 0/2 successful episodes +[05/26 03:53:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4439 (index 18/42) +[05/26 03:53:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4439 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 03:53:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +[2026-05-26 03:55:39,050] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:56:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:00:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 4439 episode 0 object objalemonsqueezer_5679cddc744c4f39b731890788405de6_1_0_6 completed with success=False +[05/26 04:00:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4439: 1 episodes +[05/26 04:00:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:00:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:00:28 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4439 +[05/26 04:00:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4439 in 3.12s (batch: 2.98s, save: 0.13s) +[05/26 04:00:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4439 +[05/26 04:00:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4439: 0/1 successful episodes +[05/26 04:00:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4507 (index 19/42) +[05/26 04:00:29 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4507 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 04:00:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[2026-05-26 04:02:41,249] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:04:08 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:07:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 4507 episode 0 object vase_485850bef5e28630dd1156aaec2e3528_1_0_4 completed with success=False +[05/26 04:07:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4507: 1 episodes +[05/26 04:07:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:07:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:07:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4507 +[05/26 04:07:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4507 in 2.57s (batch: 2.45s, save: 0.12s) +[05/26 04:07:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4507 +[05/26 04:07:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4507: 0/1 successful episodes +[05/26 04:07:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4551 (index 20/42) +[05/26 04:07:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4551 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 04:07:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +[05/26 04:08:08 Worker 0 WARNING object_manager.py:1238] Could not find object box_70f31162bf3c1176ddc74f3417271d3f_1_0_3 in scene +[05/26 04:08:08 Worker 0 WARNING object_manager.py:1238] Could not find object objahikingshoe_41c91f680a55496ca83144519402c2f6_1_0_5 in scene +[2026-05-26 04:10:20,251] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:11:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:20:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 4551 episode 0 object objadriedfish_b94ddf2091234161818b07461044cb2f_1_0_2 completed with success=False +[05/26 04:20:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4551: 1 episodes +[05/26 04:20:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:20:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:20:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4551 +[05/26 04:20:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4551 in 3.35s (batch: 3.20s, save: 0.16s) +[05/26 04:20:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4551 +[05/26 04:20:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4551: 0/1 successful episodes +[05/26 04:20:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4619 (index 21/42) +[05/26 04:20:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4619 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 04:20:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +[2026-05-26 04:22:34,134] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:22:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:25:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 4619 episode 0 object objaheadpiece_2d4d3d4f56d345bcaafdf60a5a19741f_1_0_2 completed with success=False +[05/26 04:25:35 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4619: 1 episodes +[05/26 04:25:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:25:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:25:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4619 +[05/26 04:25:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4619 in 2.61s (batch: 2.49s, save: 0.13s) +[05/26 04:25:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4619 +[05/26 04:25:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4619: 0/1 successful episodes +[05/26 04:25:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4682 (index 22/42) +[05/26 04:25:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4682 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 04:25:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +[2026-05-26 04:27:47,546] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:32:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 4682 episode 0 object objagrenade_d61768fbc7494143bb87852c36d1beaa_1_0_4 completed with success=False +[05/26 04:32:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4682: 1 episodes +[05/26 04:32:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:33:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:33:01 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4682 +[05/26 04:33:01 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4682 in 4.05s (batch: 3.85s, save: 0.20s) +[05/26 04:33:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4682 +[05/26 04:33:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4682: 0/1 successful episodes +[05/26 04:33:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4715 (index 23/42) +[05/26 04:33:02 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4715 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 04:33:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +[2026-05-26 04:34:45,869] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:35:14 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:37:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 4715 episode 0 object objawoodencarving_6589b07c9b2d49778e08d7e6110c04c6_1_0_7 completed with success=False +[05/26 04:38:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4715: 1 episodes +[05/26 04:38:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:38:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:38:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4715 +[05/26 04:38:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4715 in 2.63s (batch: 2.49s, save: 0.14s) +[05/26 04:38:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4715 +[05/26 04:38:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4715: 0/1 successful episodes +[05/26 04:38:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4749 (index 24/42) +[05/26 04:38:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4749 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 04:38:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +[2026-05-26 04:39:18,162] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:41:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 4749 episode 0 object objamount_b44ed71003e149cc98576162a09d588c_1_0_2 completed with success=False +[05/26 04:41:46 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4749: 1 episodes +[05/26 04:41:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:41:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:41:49 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4749 +[05/26 04:41:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4749 in 2.59s (batch: 2.47s, save: 0.13s) +[05/26 04:41:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4749 +[05/26 04:41:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4749: 0/1 successful episodes +[05/26 04:41:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4792 (index 25/42) +[05/26 04:41:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4792 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 04:41:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/8 [00:00 does not support tracking retries. +[2026-05-26 04:43:46,826] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:44:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:47:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 4792 episode 0 object objaairblower_c1894126b3394345835758d674b7435e_1_0_2 completed with success=False +[05/26 04:47:50 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4792: 1 episodes +[05/26 04:47:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:47:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:47:54 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4792 +[05/26 04:47:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4792 in 3.63s (batch: 3.41s, save: 0.22s) +[05/26 04:47:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4792 +[05/26 04:47:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4792: 0/1 successful episodes +[05/26 04:47:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4819 (index 26/42) +[05/26 04:47:55 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4819 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 04:47:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +[05/26 04:48:04 Worker 0 WARNING object_manager.py:1238] Could not find object objahandrailendcap_54719855275e49439cf3c5ba812d8653_1_0_2 in scene +[05/26 04:48:04 Worker 0 WARNING object_manager.py:1238] Could not find object objasmokegrenade_6a086a3c3a324ffa90f3187c03c83ffb_1_0_2 in scene +[2026-05-26 04:49:53,466] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:50:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:53:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 4819 episode 0 object objahandheldtool_a4d19db995b5462ebf75c3d9aa9c8d25_1_0_2 completed with success=True +[05/26 04:53:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4819: 1 episodes +[05/26 04:53:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 429 timesteps +[05/26 04:53:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:53:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4819 +[05/26 04:53:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4819 in 2.68s (batch: 2.55s, save: 0.12s) +[05/26 04:53:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4819 +[05/26 04:53:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4819: 1/1 successful episodes +[05/26 04:53:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4837 (index 27/42) +[05/26 04:53:14 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4837 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 04:53:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[05/26 04:53:21 Worker 0 WARNING object_manager.py:1238] Could not find object houseplant_dcbdb95728216d04e9812af06a792bb7_1_0_9 in scene +[05/26 04:53:21 Worker 0 WARNING object_manager.py:1238] Could not find object plate_3a462adb63be096cddd3c836fdb52686_1_0_9 in scene +[2026-05-26 04:54:39,766] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:55:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:58:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 4837 episode 0 object objabowtie_09095656ad6243c08d4efdf20e43de8d_1_0_9 completed with success=False +[05/26 04:58:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[05/26 04:58:20 Worker 0 WARNING object_manager.py:1238] Could not find object houseplant_dcbdb95728216d04e9812af06a792bb7_1_0_9 in scene +[05/26 04:58:20 Worker 0 WARNING object_manager.py:1238] Could not find object plate_3a462adb63be096cddd3c836fdb52686_1_0_9 in scene +[2026-05-26 05:00:31,243] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:05:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 4837 episode 1 object objastylus_afd41dae770041319dec594ab1d3df79_1_0_6 completed with success=False +[05/26 05:05:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4837: 2 episodes +[05/26 05:05:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:05:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:05:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:05:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:05:23 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4837 +[05/26 05:05:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4837 in 7.44s (batch: 7.21s, save: 0.23s) +[05/26 05:05:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4837 +[05/26 05:05:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4837: 0/2 successful episodes +[05/26 05:05:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4880 (index 28/42) +[05/26 05:05:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4880 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 05:05:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +[05/26 05:05:39 Worker 0 WARNING object_manager.py:1238] Could not find object tomato_d8374542ffb24dad411e5cff170ec0f6_1_0_2 in scene +[2026-05-26 05:07:32,860] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:15:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 4880 episode 0 object objastamp_34a49861e7744acfb71de471a755e917_1_0_7 completed with success=False +[05/26 05:15:06 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4880: 1 episodes +[05/26 05:15:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:15:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:15:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4880 +[05/26 05:15:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4880 in 4.02s (batch: 3.83s, save: 0.18s) +[05/26 05:15:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4880 +[05/26 05:15:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4880: 0/1 successful episodes +[05/26 05:15:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4960 (index 29/42) +[05/26 05:15:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4960 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 05:15:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/14 [00:00 does not support tracking retries. +[2026-05-26 05:17:34,856] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:18:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:21:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 4960 episode 0 object objabluetoothspeaker_8280c95c7e1f413489cf7e52db89bf93_1_0_3 completed with success=False +[05/26 05:21:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4960: 1 episodes +[05/26 05:21:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:21:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:21:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4960 +[05/26 05:21:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4960 in 2.64s (batch: 2.52s, save: 0.12s) +[05/26 05:21:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4960 +[05/26 05:21:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4960: 0/1 successful episodes +[05/26 05:21:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5006 (index 30/42) +[05/26 05:21:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5006 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 05:21:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +[2026-05-26 05:23:49,337] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:25:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:29:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 5006 episode 0 object objadomino_c97ea56f249340cea90c4f66e84108dc_1_0_4 completed with success=False +[05/26 05:30:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5006: 1 episodes +[05/26 05:30:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:30:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:30:06 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5006 +[05/26 05:30:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5006 in 4.03s (batch: 3.85s, save: 0.18s) +[05/26 05:30:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5006 +[05/26 05:30:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5006: 0/1 successful episodes +[05/26 05:30:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5068 (index 31/42) +[05/26 05:30:07 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5068 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 05:30:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +[2026-05-26 05:32:10,269] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:33:44 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:37:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 5068 episode 0 object objaplayingcard_76e975ae10fb435da53120fb7d8bf835_1_0_6 completed with success=False +[05/26 05:37:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5068: 1 episodes +[05/26 05:37:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:37:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:37:25 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5068 +[05/26 05:37:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5068 in 2.60s (batch: 2.38s, save: 0.22s) +[05/26 05:37:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5068 +[05/26 05:37:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5068: 0/1 successful episodes +[05/26 05:37:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5134 (index 32/42) +[05/26 05:37:26 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5134 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 05:37:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/13 [00:00 does not support tracking retries. +[2026-05-26 05:38:52,060] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:42:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 5134 episode 0 object objaemblem_d946fb54e46e4db7979bbb6fcf65fc32_1_0_3 completed with success=False +[05/26 05:42:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5134: 1 episodes +[05/26 05:42:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:42:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:42:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5134 +[05/26 05:42:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5134 in 3.23s (batch: 3.04s, save: 0.20s) +[05/26 05:42:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5134 +[05/26 05:42:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5134: 0/1 successful episodes +[05/26 05:42:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5173 (index 33/42) +[05/26 05:42:36 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 5173 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 05:42:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +[05/26 05:42:53 Worker 0 WARNING object_manager.py:1238] Could not find object objavirusmodel_b74bf64ba5c24b83b0dfffc944d8d20d_1_0_4 in scene +[05/26 05:42:53 Worker 0 WARNING object_manager.py:1238] Could not find object objamagnet_a734ce1339d44d2fbad906439777be78_1_0_4 in scene +[05/26 05:42:53 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturetower_f304563fd62241368b13c271ff4cc41d_1_0_5 in scene +[05/26 05:42:53 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaperroll_e1cf65984fff46168396e0b74861f845_1_0_5 in scene +[05/26 05:42:53 Worker 0 WARNING object_manager.py:1238] Could not find object objatoyfish_40002de7ecf64a82af4abbbec26171b6_1_0_7 in scene +[2026-05-26 05:45:13,973] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:46:23 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:51:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 5173 episode 0 object objacheese_150156b49a984e5d9c0e672894da5a3e_1_0_2 completed with success=False +[05/26 05:51:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +[05/26 05:51:17 Worker 0 WARNING object_manager.py:1238] Could not find object objavirusmodel_b74bf64ba5c24b83b0dfffc944d8d20d_1_0_4 in scene +[05/26 05:51:17 Worker 0 WARNING object_manager.py:1238] Could not find object objamagnet_a734ce1339d44d2fbad906439777be78_1_0_4 in scene +[05/26 05:51:17 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturetower_f304563fd62241368b13c271ff4cc41d_1_0_5 in scene +[05/26 05:51:17 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaperroll_e1cf65984fff46168396e0b74861f845_1_0_5 in scene +[05/26 05:51:17 Worker 0 WARNING object_manager.py:1238] Could not find object objatoyfish_40002de7ecf64a82af4abbbec26171b6_1_0_7 in scene +[2026-05-26 05:53:13,470] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:58:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 5173 episode 1 object objanutcracker_94c36df60580408ea582ad83c55cdca0_1_0_8 completed with success=False +[05/26 05:58:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5173: 2 episodes +[05/26 05:58:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:59:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:59:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:59:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:59:04 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5173 +[05/26 05:59:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5173 in 5.15s (batch: 4.93s, save: 0.22s) +[05/26 05:59:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5173 +[05/26 05:59:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5173: 0/2 successful episodes +[05/26 05:59:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5185 (index 34/42) +[05/26 05:59:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5185 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 05:59:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +[05/26 05:59:23 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingpanel_a3d6f7df9ff94ed59f95d5086d5f3fdd_1_0_4 in scene +[2026-05-26 06:01:05,646] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:04:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 5185 episode 0 object vase_0db9e9dc4d41a9e8ceaa58f142da5baa_1_0_6 completed with success=False +[05/26 06:04:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5185: 1 episodes +[05/26 06:04:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:04:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:04:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5185 +[05/26 06:04:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5185 in 4.02s (batch: 3.88s, save: 0.14s) +[05/26 06:04:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5185 +[05/26 06:04:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5185: 0/1 successful episodes +[05/26 06:04:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5242 (index 35/42) +[05/26 06:04:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5242 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 06:04:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +[2026-05-26 06:06:37,882] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:08:03 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:12:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 5242 episode 0 object objagpsdevice_5ec82b191b4d44b299cb1fcea0308296_1_0_4 completed with success=False +[05/26 06:12:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5242: 1 episodes +[05/26 06:12:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:12:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:12:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5242 +[05/26 06:12:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5242 in 3.77s (batch: 3.55s, save: 0.21s) +[05/26 06:12:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5242 +[05/26 06:12:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5242: 0/1 successful episodes +[05/26 06:12:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5320 (index 36/42) +[05/26 06:12:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5320 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 06:12:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[2026-05-26 06:14:41,211] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:15:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:19:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 5320 episode 0 object objafibercleaver_1b640217473f40508802bc5a114f876d_1_0_9 completed with success=False +[05/26 06:19:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5320: 1 episodes +[05/26 06:19:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:19:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:19:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5320 +[05/26 06:19:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5320 in 3.97s (batch: 3.79s, save: 0.17s) +[05/26 06:19:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5320 +[05/26 06:19:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5320: 0/1 successful episodes +[05/26 06:19:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5401 (index 37/42) +[05/26 06:19:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5401 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 06:19:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/53 [00:00 does not support tracking retries. +[2026-05-26 06:22:05,966] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:23:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:26:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 5401 episode 0 object objabutton_d11a2951f1d24e458c6d5a6b3f79db73_1_0_8 completed with success=False +[05/26 06:26:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5401: 1 episodes +[05/26 06:26:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:26:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:26:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5401 +[05/26 06:26:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5401 in 2.43s (batch: 2.32s, save: 0.12s) +[05/26 06:26:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5401 +[05/26 06:26:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5401: 0/1 successful episodes +[05/26 06:26:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5436 (index 38/42) +[05/26 06:26:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5436 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 06:26:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[2026-05-26 06:27:51,406] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:28:34 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:32:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 5436 episode 0 object objaplaque_5e188d3eda424161a355de45abcdf4e4_1_0_6 completed with success=False +[05/26 06:33:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5436: 1 episodes +[05/26 06:33:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:33:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:33:03 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5436 +[05/26 06:33:03 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5436 in 2.32s (batch: 2.23s, save: 0.09s) +[05/26 06:33:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5436 +[05/26 06:33:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5436: 0/1 successful episodes +[05/26 06:33:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5481 (index 39/42) +[05/26 06:33:03 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5481 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 06:33:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/63 [00:00 does not support tracking retries. +[05/26 06:33:16 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_4 in scene +[05/26 06:33:16 Worker 0 WARNING object_manager.py:1238] Could not find object objabarcodescanner_20b0d715334944feacba1342856c03a0_1_0_6 in scene +[2026-05-26 06:34:25,372] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:34:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:39:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 5481 episode 0 object objaflask_c0b5678842064353972d518a67f1ff13_1_0_2 completed with success=False +[05/26 06:39:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5481: 1 episodes +[05/26 06:39:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:39:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:39:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5481 +[05/26 06:39:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5481 in 3.04s (batch: 2.94s, save: 0.09s) +[05/26 06:39:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5481 +[05/26 06:39:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5481: 0/1 successful episodes +[05/26 06:39:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5509 (index 40/42) +[05/26 06:39:19 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5509 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 06:39:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/9 [00:00 does not support tracking retries. +[2026-05-26 06:41:32,242] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:42:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:45:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 5509 episode 0 object objahinge_4587c40e36704e7a96ffebad95028160_1_0_2 completed with success=False +[05/26 06:45:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5509: 1 episodes +[05/26 06:45:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:45:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:45:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5509 +[05/26 06:45:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5509 in 2.91s (batch: 2.80s, save: 0.11s) +[05/26 06:45:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5509 +[05/26 06:45:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5509: 0/1 successful episodes +[05/26 06:45:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5549 (index 41/42) +[05/26 06:45:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5549 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 06:45:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[05/26 06:45:33 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturetower_0780a7e5369442c3967681084a046588_1_0_7 in scene +[05/26 06:45:33 Worker 0 WARNING object_manager.py:1238] Could not find object objaband_eca69b5af4c44fb0bf968b343efad030_1_0_7 in scene +[05/26 06:45:33 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_8c6e5265f19b49709119c2628c2bdf3f_1_0_7 in scene +[2026-05-26 06:46:38,755] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:49:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 5549 episode 0 object objahumanhandmodel_8fb51276bf0e42fca8a554c2e2ea687e_1_0_9 completed with success=False +[05/26 06:49:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5549: 1 episodes +[05/26 06:49:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:49:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:49:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5549 +[05/26 06:49:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5549 in 2.82s (batch: 2.72s, save: 0.11s) +[05/26 06:49:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5549 +[05/26 06:49:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5549: 0/1 successful episodes +[05/26 06:49:36 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses +[05/26 06:49:36 INFO pipeline.py:1496] Completed 42 houses, skipped 0 houses +[05/26 06:49:36 INFO pipeline.py:1499] Success count: 3, Total count: 47 +[05/26 06:49:36 INFO pipeline.py:1500] Success rate: 6.38% +Combined 47 episodes from 42 files → /tmp/tmp56sfkbfw.h5 + +Saved → /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/results.csv at-end: 6.38% | oracle: 6.38% of 47 episodes +[2026-05-26 06:49:41,813] INFO MolmoSpaces simulator eval finished: success=3/47 rate=0.0638 output=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval +[2026-05-26 06:49:41,814] INFO Benchmark CSV: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/results.csv diff --git a/pnp_v2/pnp_v2/shards/shard_04/run_command.sh b/pnp_v2/pnp_v2/shards/shard_04/run_command.sh new file mode 100644 index 0000000000000000000000000000000000000000..aab71ab90202695d2cf02bb373a91d553373c674 --- /dev/null +++ b/pnp_v2/pnp_v2/shards/shard_04/run_command.sh @@ -0,0 +1,4 @@ +#!/usr/bin/env bash +set -euo pipefail +cd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy +conda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament diff --git a/pnp_v2/pnp_v2/shards/shard_05.launcher.log b/pnp_v2/pnp_v2/shards/shard_05.launcher.log new file mode 100644 index 0000000000000000000000000000000000000000..97524eda932a8841208fb33c210b393e5cced413 --- /dev/null +++ b/pnp_v2/pnp_v2/shards/shard_05.launcher.log @@ -0,0 +1,1507 @@ +================================================================================ +Official MolmoSpaces Submission Run +================================================================================ +Checkpoint : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt +Benchmark dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +Output root : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05 +Eval output dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval +Submission dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/submission +Conda env : molmospace +Policy name : latest +Policy device : cuda:0 +Text embedding device : cpu +Prompt cache dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan +Workers : 1 +Task horizon steps : 450 +Action chunk size : 8 +Obs camera : droid_shoulder_light_randomization +Obs wrist camera : wrist_camera_zed_mini +Camera names : droid_shoulder_light_randomization wrist_camera_zed_mini +Preview camera names : droid_shoulder_light_randomization +End on success : 1 +Visualization : 0 +Save raw videos : 0 +Save video sensors : __none__ +Success condition (CSV) : both + +Official runner : molmo_spaces.evaluation.run_evaluation() +CSV exporter : molmospaces/scripts/benchmarks/eval_to_csv.py + +Command +conda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament +================================================================================ +[2026-05-26 01:03:53,389] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath'] +[2026-05-26 01:03:53,538] INFO Selected MuJoCo backend: egl +[2026-05-26 01:03:53,555] INFO Using MolmoSpaces benchmark: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 (source=arg) +[2026-05-26 01:03:56,480] INFO No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +[nltk_data] Downloading package wordnet to /home/yuanpei/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /home/yuanpei/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +[2026-05-26 01:04:09,772] INFO ResourceManager (R2RemoteStorage('https://pub-3555e9bb2d304fab9c6c79819e48aa40.r2.dev')) using: + symlink_dir=/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets + cache_dir=/home/yuanpei/.cache/molmo-spaces-resources + force_install=True +/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py:129: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +[2026-05-26 01:04:37,710] INFO Requested MolmoSpaces simulator cameras: ['droid_shoulder_light_randomization', 'wrist_camera_zed_mini'] +[2026-05-26 01:04:37,718] INFO Using save_video_sensors=['__none__'] +[2026-05-26 01:04:41,189] INFO Resolved MolmoSpaces action semantics from checkpoint: source=pnp_next_to_v2 type=molmo_raw arm_action_key=joint_pos_rel gripper_action_key=joint_pos action_type=joint_pos_rel arm_command_mode=joint_rel_position +[2026-05-26 01:04:41,257] INFO Using explicit task_horizon override: 450 steps +[05/26 01:04:41 INFO pipeline.py:677] WandB logging disabled (environment variables not set) +[2026-05-26 01:04:41,324] INFO JsonEvalRunner initialized: 37 houses, 41 episodes from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 01:04:41 INFO pipeline.py:1279] Starting house-by-house rollout of 37 houses with 2 episodes each (74 total episodes) using 1 worker processes +[05/26 01:04:41 INFO pipeline.py:1286] Evaluation configuration: +[05/26 01:04:41 INFO pipeline.py:1287] {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['droid_shoulder_light_randomization', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 'wan_molmobot_franka', + 'obs_camera_name': 'droid_shoulder_light_randomization', + 'obs_image_key': 'rgb_head', + 'obs_state_key': 'robot_state', + 'obs_wrist_camera_name': 'wrist_camera_zed_mini', + 'obs_wrist_image_key': 'rgb_wrist', + 'policy_cls': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [3886, + 3916, + 3961, + 4005, + 4041, + 4124, + 4155, + 4163, + 4256, + 4322, + 4365, + 4403, + 4441, + 4505, + 4511, + 4556, + 4634, + 4686, + 4723, + 4750, + 4796, + 4836, + 4900, + 4954, + 4965, + 5009, + 5075, + 5153, + 5178, + 5189, + 5262, + 5323, + 5408, + 5442, + 5482, + 5511, + 5555], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} +[2026-05-26 01:04:41,341] INFO Saved experiment configuration to /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441 +[05/26 01:04:41 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler +[05/26 01:04:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/26 01:04:41 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler +[05/26 01:04:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3886 (index 0/37) +[05/26 01:04:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3886 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 01:04:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +[05/26 01:05:04 Worker 0 WARNING object_manager.py:1238] Could not find object objahandaxe_edf08aca9c6b4b598c267da1596b58d4_1_0_2 in scene +[05/26 01:05:04 Worker 0 WARNING object_manager.py:1238] Could not find object bowl_4d97da0c296398947839b0e020453a0f_1_0_2 in scene +2026-05-26 01:06:06.585 | INFO | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0 +[2026-05-26 01:06:42,047] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k) +[2026-05-26 01:06:44,108] INFO [timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k] Safe alternative available for 'pytorch_model.bin' (as 'model.safetensors'). Loading weights using safetensors. +[2026-05-26 01:08:51,514] INFO Number of parameters in DiT: 1.821428e+07 +[2026-05-26 01:09:04,850] INFO Loaded generic psi-policy checkpoint | target=psi_policy.policy.psi_policy.PsiPolicy | obs_keys=['rgb_head', 'rgb_wrist', 'robot_state', 'text_context'] | action_horizon=16 | action_dim=8 +[2026-05-26 01:09:04,857] INFO Loaded MolmoSpaces policy | checkpoint=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt | target=psi_policy.policy.psi_policy.PsiPolicy | device=cuda:0 | action_chunk_size=8 +[05/26 01:09:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:13:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 3886 episode 0 object objahandaxe_ebb899473a5a41649e6cb25f3b27563b_1_0_2 completed with success=False +[05/26 01:13:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3886: 1 episodes +[05/26 01:13:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:13:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:13:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_3886 +[05/26 01:13:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3886 in 5.83s (batch: 5.58s, save: 0.26s) +[05/26 01:13:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3886 +[05/26 01:13:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3886: 0/1 successful episodes +[05/26 01:13:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3916 (index 1/37) +[05/26 01:13:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3916 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 01:13:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/7 [00:00 does not support tracking retries. +[05/26 01:16:54 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:24:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 3916 episode 0 object objatoyjet_cd2a4b5fdf9b4b5b83de34c24cec1f56_1_0_2 completed with success=False +[05/26 01:24:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3916: 1 episodes +[05/26 01:24:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:24:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:24:28 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_3916 +[05/26 01:24:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3916 in 2.21s (batch: 2.12s, save: 0.09s) +[05/26 01:24:28 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3916 +[05/26 01:24:28 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3916: 0/1 successful episodes +[05/26 01:24:28 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3961 (index 2/37) +[05/26 01:24:28 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3961 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 01:24:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +[05/26 01:26:33 Worker 0 WARNING object_manager.py:1238] Could not find object objafantasyplant_c8251feed92f41f197376ab4fd543e27_1_0_6 in scene +[05/26 01:26:33 Worker 0 WARNING object_manager.py:1238] Could not find object objamannequinhand_9507be033ab14d248bc3479e16927993_1_0_6 in scene +[05/26 01:26:33 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_6 in scene +[05/26 01:26:33 Worker 0 WARNING object_manager.py:1238] Could not find object apple_ff93afa9f54bdc5d2bd30356940afcac_1_0_6 in scene +[05/26 01:26:33 Worker 0 WARNING object_manager.py:1238] Could not find object objastoneslab_31b90e243892445380948dc39af237cf_1_0_7 in scene +[2026-05-26 01:27:28,223] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/huggingface_hub/file_download.py:945: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`. + warnings.warn( +[05/26 01:30:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 3961 episode 0 object objacalculatorradio_d17ba864b7a94eacaa34ee919210ba8d_1_0_6 completed with success=False +[05/26 01:30:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3961: 1 episodes +[05/26 01:30:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:30:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:30:06 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_3961 +[05/26 01:30:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3961 in 2.13s (batch: 2.03s, save: 0.10s) +[05/26 01:30:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3961 +[05/26 01:30:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3961: 0/1 successful episodes +[05/26 01:30:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4005 (index 3/37) +[05/26 01:30:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4005 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 01:30:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/39 [00:00 does not support tracking retries. +[2026-05-26 01:35:11,932] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 01:40:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 4005 episode 0 object objadslrcamera_74868e16ced243c088207e5d7da8c750_1_0_9 completed with success=False +[05/26 01:40:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4005: 1 episodes +[05/26 01:40:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:40:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:40:08 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4005 +[05/26 01:40:08 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4005 in 3.42s (batch: 3.33s, save: 0.09s) +[05/26 01:40:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4005 +[05/26 01:40:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4005: 0/1 successful episodes +[05/26 01:40:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4041 (index 4/37) +[05/26 01:40:09 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4041 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 01:40:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/17 [00:00 does not support tracking retries. +[05/26 01:41:23 Worker 0 WARNING object_manager.py:1238] Could not find object apple_523cec3bd66eec1b41ffd2506874d275_1_0_2 in scene +[2026-05-26 01:42:53,247] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 01:43:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:45:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 4041 episode 0 object knife_0bc93f198121d33ac4030a34bfc944a4_1_0_2 completed with success=False +[05/26 01:45:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4041: 1 episodes +[05/26 01:45:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:45:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:45:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4041 +[05/26 01:45:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4041 in 2.25s (batch: 2.16s, save: 0.09s) +[05/26 01:45:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4041 +[05/26 01:45:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4041: 0/1 successful episodes +[05/26 01:45:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4124 (index 5/37) +[05/26 01:45:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4124 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 01:45:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[2026-05-26 01:54:21,971] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 01:57:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 4124 episode 0 object objapackaging_33c69733e61e4cc1953c79a1806b89ab_1_0_7 completed with success=False +[05/26 01:57:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4124: 1 episodes +[05/26 01:57:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:57:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:57:29 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4124 +[05/26 01:57:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4124 in 3.74s (batch: 3.63s, save: 0.12s) +[05/26 01:57:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4124 +[05/26 01:57:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4124: 0/1 successful episodes +[05/26 01:57:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4155 (index 6/37) +[05/26 01:57:30 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4155 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 01:57:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +[05/26 01:57:51 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativelighthouse_efc08602dbff41d28ab59d29b36fdb05_1_0_3 in scene +[05/26 01:57:51 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativekey_b891ef9e4e564492b6fe0db01ebeae72_1_0_3 in scene +[05/26 01:57:51 Worker 0 WARNING object_manager.py:1238] Could not find object box_e01bbd7deecc2b767c1f2ee9de0d6982_1_0_4 in scene +[2026-05-26 01:59:44,113] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:00:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:07:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 4155 episode 0 object objagoblet_2e5243eb355c4b0c90aed7281e93d5a6_1_0_2 completed with success=False +[05/26 02:07:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +[05/26 02:07:50 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativelighthouse_efc08602dbff41d28ab59d29b36fdb05_1_0_3 in scene +[05/26 02:07:50 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativekey_b891ef9e4e564492b6fe0db01ebeae72_1_0_3 in scene +[05/26 02:07:50 Worker 0 WARNING object_manager.py:1238] Could not find object box_e01bbd7deecc2b767c1f2ee9de0d6982_1_0_4 in scene +[2026-05-26 02:09:57,708] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:11:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:15:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 4155 episode 1 object objanightvisiongoggles_11705eaaae174eababc45a53203f59ce_1_0_6 completed with success=False +[05/26 02:15:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4155: 2 episodes +[05/26 02:15:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:15:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:15:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:15:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:15:45 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4155 +[05/26 02:15:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4155 in 6.39s (batch: 6.14s, save: 0.25s) +[05/26 02:15:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4155 +[05/26 02:15:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4155: 0/2 successful episodes +[05/26 02:15:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4163 (index 7/37) +[05/26 02:15:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4163 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 02:15:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +[2026-05-26 02:17:24,665] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:22:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 4163 episode 0 object objamoviecamera_64bd72851ef349ef9cd24403df1789ad_1_0_6 completed with success=False +[05/26 02:22:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4163: 1 episodes +[05/26 02:22:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:22:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:22:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4163 +[05/26 02:22:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4163 in 3.47s (batch: 3.32s, save: 0.15s) +[05/26 02:22:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4163 +[05/26 02:22:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4163: 0/1 successful episodes +[05/26 02:22:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4256 (index 8/37) +[05/26 02:22:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4256 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 02:22:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[2026-05-26 02:24:50,967] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:26:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:31:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 4256 episode 0 object objadigitalcamera_8b7daba1ebb641448a316946a6dc1837_1_0_4 completed with success=False +[05/26 02:31:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4256: 1 episodes +[05/26 02:31:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:31:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:31:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4256 +[05/26 02:31:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4256 in 2.73s (batch: 2.62s, save: 0.11s) +[05/26 02:31:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4256 +[05/26 02:31:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4256: 0/1 successful episodes +[05/26 02:31:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4322 (index 9/37) +[05/26 02:31:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4322 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 02:31:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +[2026-05-26 02:33:44,443] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:34:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:38:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 4322 episode 0 object objasecuritykeypad_e3e26581572f467d84958a12d6305aae_1_0_4 completed with success=False +[05/26 02:38:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4322: 1 episodes +[05/26 02:38:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:38:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:38:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4322 +[05/26 02:38:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4322 in 2.97s (batch: 2.77s, save: 0.20s) +[05/26 02:38:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4322 +[05/26 02:38:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4322: 0/1 successful episodes +[05/26 02:38:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4365 (index 10/37) +[05/26 02:38:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4365 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 02:38:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +[2026-05-26 02:40:34,076] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:48:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 4365 episode 0 object objasneaker_a1800b2df030447c93a892c85c8af8ef_1_0_5 completed with success=False +[05/26 02:48:56 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4365: 1 episodes +[05/26 02:48:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:49:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:49:00 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4365 +[05/26 02:49:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4365 in 3.80s (batch: 3.66s, save: 0.14s) +[05/26 02:49:01 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4365 +[05/26 02:49:01 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4365: 0/1 successful episodes +[05/26 02:49:01 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4403 (index 11/37) +[05/26 02:49:01 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4403 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 02:49:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 does not support tracking retries. +[05/26 02:49:11 Worker 0 WARNING object_manager.py:1238] Could not find object cellulartelephone_f65c71e22b7e94dd68f01167ec92b467_1_0_4 in scene +[2026-05-26 02:51:01,105] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:52:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:02:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 4403 episode 0 object objadecorativeenvelope_303b287819a84f7496bd92f5d69710c7_1_0_2 completed with success=False +[05/26 03:02:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4403: 1 episodes +[05/26 03:02:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:02:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:02:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4403 +[05/26 03:02:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4403 in 3.20s (batch: 3.09s, save: 0.11s) +[05/26 03:02:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4403 +[05/26 03:02:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4403: 0/1 successful episodes +[05/26 03:02:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4441 (index 12/37) +[05/26 03:02:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4441 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 03:02:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[2026-05-26 03:04:50,860] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:12:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 4441 episode 0 object objaticket_c57b100f3adc47ef8c8432c090ac770f_1_0_9 completed with success=False +[05/26 03:12:17 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4441: 1 episodes +[05/26 03:12:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:12:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:12:20 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4441 +[05/26 03:12:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4441 in 3.20s (batch: 3.03s, save: 0.16s) +[05/26 03:12:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4441 +[05/26 03:12:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4441: 0/1 successful episodes +[05/26 03:12:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4505 (index 13/37) +[05/26 03:12:21 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4505 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 03:12:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/27 [00:00 does not support tracking retries. +[2026-05-26 03:14:29,323] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:18:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 4505 episode 0 object objabird_5a91277584a645ac85029d4f7342b742_1_0_7 completed with success=False +[05/26 03:18:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/27 [00:00 does not support tracking retries. +[2026-05-26 03:21:03,659] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:21:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:23:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 4505 episode 1 object objadecorativeblade_c38337ff48c9480788b04c3afa7464a9_1_0_4 completed with success=False +[05/26 03:23:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4505: 2 episodes +[05/26 03:23:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:23:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:24:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:24:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:24:01 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4505 +[05/26 03:24:01 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4505 in 6.30s (batch: 6.03s, save: 0.27s) +[05/26 03:24:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4505 +[05/26 03:24:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4505: 0/2 successful episodes +[05/26 03:24:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4511 (index 14/37) +[05/26 03:24:02 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4511 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 03:24:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +[05/26 03:24:15 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativekey_ac8042fa5b204af3a12dd8c588c54ef3_1_0_5 in scene +[05/26 03:24:15 Worker 0 WARNING object_manager.py:1238] Could not find object objaconcretesample_51dcd7c7aa21436bbfda21d405868a11_1_0_5 in scene +[2026-05-26 03:25:56,839] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:31:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 4511 episode 0 object objadecorativetext_452e73c35de349d394a7592fdc0200e6_1_0_6 completed with success=False +[05/26 03:31:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4511: 1 episodes +[05/26 03:31:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:31:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:31:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4511 +[05/26 03:31:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4511 in 2.74s (batch: 2.59s, save: 0.16s) +[05/26 03:31:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4511 +[05/26 03:31:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4511: 0/1 successful episodes +[05/26 03:31:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4556 (index 15/37) +[05/26 03:31:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4556 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 03:31:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 does not support tracking retries. +[05/26 03:31:39 Worker 0 WARNING object_manager.py:1238] Could not find object box_cab37dabf893c5e8d3c18a3ad1a8b8eb_1_0_3 in scene +[05/26 03:31:39 Worker 0 WARNING object_manager.py:1238] Could not find object objaphotoalbum_6d34266a9ed14aa69c8d0baccdb9081a_1_0_4 in scene +[05/26 03:31:39 Worker 0 WARNING object_manager.py:1238] Could not find object objamask_0741405f9d9942e292dc1d0eb20fa815_1_0_5 in scene +[05/26 03:31:39 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_8c6e5265f19b49709119c2628c2bdf3f_1_0_5 in scene +[2026-05-26 03:33:56,242] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:35:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:42:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 4556 episode 0 object objaremotecontrol_f14da6318f904052920e78b9bb1a19ef_1_0_3 completed with success=False +[05/26 03:43:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4556: 1 episodes +[05/26 03:43:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:43:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:43:03 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4556 +[05/26 03:43:03 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4556 in 3.80s (batch: 3.61s, save: 0.19s) +[05/26 03:43:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4556 +[05/26 03:43:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4556: 0/1 successful episodes +[05/26 03:43:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4634 (index 16/37) +[05/26 03:43:04 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4634 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 03:43:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/26 [00:00 does not support tracking retries. +[05/26 03:43:14 Worker 0 WARNING object_manager.py:1238] Could not find object vase_d568e4c5c2948c69c05d527517276b06_2_0_7 in scene +[2026-05-26 03:44:27,526] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:48:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 4634 episode 0 object objatoiletpaper_903ed803932340b19104cf5232c5dcc4_1_0_5 completed with success=False +[05/26 03:48:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4634: 1 episodes +[05/26 03:48:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:48:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:48:47 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4634 +[05/26 03:48:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4634 in 3.93s (batch: 3.76s, save: 0.17s) +[05/26 03:48:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4634 +[05/26 03:48:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4634: 0/1 successful episodes +[05/26 03:48:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4686 (index 17/37) +[05/26 03:48:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4686 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 03:48:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/14 [00:00 does not support tracking retries. +[05/26 03:48:53 Worker 0 WARNING object_manager.py:1238] Could not find object objamechanicalcomponent_1bdce5bc26ad44c28d89284da6c3a8cf_1_0_2 in scene +[05/26 03:48:53 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_92169e2640439bd67fb105701482b508_1_0_2 in scene +[2026-05-26 03:51:19,655] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:52:39 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:55:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 4686 episode 0 object objastraightrazor_a595190ce57a41cda01ff84d5c9eeb06_1_0_2 completed with success=False +[05/26 03:56:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4686: 1 episodes +[05/26 03:56:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:56:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:56:08 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4686 +[05/26 03:56:08 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4686 in 3.69s (batch: 3.27s, save: 0.42s) +[05/26 03:56:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4686 +[05/26 03:56:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4686: 0/1 successful episodes +[05/26 03:56:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4723 (index 18/37) +[05/26 03:56:09 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4723 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 03:56:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/44 [00:00 does not support tracking retries. +[2026-05-26 03:58:04,809] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:02:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 4723 episode 0 object objavessel_8bd6e267f265481682e17f696b201103_1_0_8 completed with success=False +[05/26 04:02:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4723: 1 episodes +[05/26 04:02:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:02:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:02:38 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4723 +[05/26 04:02:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4723 in 4.51s (batch: 4.24s, save: 0.27s) +[05/26 04:02:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4723 +[05/26 04:02:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4723: 0/1 successful episodes +[05/26 04:02:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4750 (index 19/37) +[05/26 04:02:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4750 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 04:02:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/14 [00:00 does not support tracking retries. +[2026-05-26 04:05:10,194] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:05:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:08:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 4750 episode 0 object objamidikeyboard_d5391486d5aa4d6aa54777beecd49534_1_0_3 completed with success=False +[05/26 04:08:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4750: 1 episodes +[05/26 04:08:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:08:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:08:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4750 +[05/26 04:08:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4750 in 2.63s (batch: 2.45s, save: 0.18s) +[05/26 04:08:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4750 +[05/26 04:08:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4750: 0/1 successful episodes +[05/26 04:08:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4796 (index 20/37) +[05/26 04:08:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4796 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 04:08:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[2026-05-26 04:10:46,996] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:16:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 4796 episode 0 object objabeveragecarton_55d0a4c01b9e4a2cab8112162ea61cfb_1_0_9 completed with success=False +[05/26 04:16:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4796: 1 episodes +[05/26 04:16:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:16:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:16:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4796 +[05/26 04:16:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4796 in 4.11s (batch: 3.86s, save: 0.24s) +[05/26 04:16:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4796 +[05/26 04:16:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4796: 0/1 successful episodes +[05/26 04:16:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4836 (index 21/37) +[05/26 04:16:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4836 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 04:16:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +[05/26 04:16:46 Worker 0 WARNING object_manager.py:1238] Could not find object objahinge_4587c40e36704e7a96ffebad95028160_1_0_8 in scene +[05/26 04:16:46 Worker 0 WARNING object_manager.py:1238] Could not find object tomato_b4fe73bc978b2372694676fd9d6ef462_2_0_8 in scene +[2026-05-26 04:18:54,558] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:20:23 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:24:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 4836 episode 0 object objamagnet_d2d922add236472ea43a39de0d739755_1_0_9 completed with success=False +[05/26 04:24:06 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4836: 1 episodes +[05/26 04:24:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:24:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:24:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4836 +[05/26 04:24:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4836 in 3.11s (batch: 3.01s, save: 0.10s) +[05/26 04:24:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4836 +[05/26 04:24:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4836: 0/1 successful episodes +[05/26 04:24:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4900 (index 22/37) +[05/26 04:24:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4900 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 04:24:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +[2026-05-26 04:25:53,703] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:33:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 4900 episode 0 object objaring_c20681970f3f4e449aeec50291be17b1_1_0_2 completed with success=False +[05/26 04:33:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4900: 1 episodes +[05/26 04:33:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:33:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:33:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4900 +[05/26 04:33:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4900 in 2.80s (batch: 2.71s, save: 0.10s) +[05/26 04:33:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4900 +[05/26 04:33:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4900: 0/1 successful episodes +[05/26 04:33:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4954 (index 23/37) +[05/26 04:33:46 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4954 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 04:33:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/26 04:33:54 Worker 0 WARNING object_manager.py:1238] Could not find object lettuce_78266f6bc320cc73d50a37e54430a582_1_0_2 in scene +[2026-05-26 04:35:22,018] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:38:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 4954 episode 0 object objadoorlock_3d56a40e1bae492b89072f71651d2d63_1_0_3 completed with success=False +[05/26 04:38:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/26 04:38:21 Worker 0 WARNING object_manager.py:1238] Could not find object lettuce_78266f6bc320cc73d50a37e54430a582_1_0_2 in scene +[2026-05-26 04:39:25,593] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:39:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:42:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 4954 episode 1 object objaelectronicdisplay_39fdfa7c14a640b58a5ff5e47a1af37c_1_0_7 completed with success=False +[05/26 04:42:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4954: 2 episodes +[05/26 04:42:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:42:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:43:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:43:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:43:00 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4954 +[05/26 04:43:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4954 in 7.76s (batch: 7.30s, save: 0.46s) +[05/26 04:43:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4954 +[05/26 04:43:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4954: 0/2 successful episodes +[05/26 04:43:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4965 (index 24/37) +[05/26 04:43:00 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4965 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 04:43:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/13 [00:00 does not support tracking retries. +[2026-05-26 04:45:04,003] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:45:47 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:48:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 4965 episode 0 object cup_56edd85aeab4ab58cc2b44e71d5e86bf_1_0_2 completed with success=False +[05/26 04:48:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4965: 1 episodes +[05/26 04:48:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:48:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:48:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4965 +[05/26 04:48:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4965 in 3.13s (batch: 2.97s, save: 0.16s) +[05/26 04:48:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4965 +[05/26 04:48:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4965: 0/1 successful episodes +[05/26 04:48:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5009 (index 25/37) +[05/26 04:48:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5009 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 04:48:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/12 [00:00 does not support tracking retries. +[05/26 04:48:19 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeheadpiece_f467a02f004e4135aaa59de93fe2d23c_1_0_3 in scene +[05/26 04:48:19 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_c60254aae031ecd4e316a5add61459a4_1_0_3 in scene +[2026-05-26 04:50:03,938] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:54:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 5009 episode 0 object bowl_78149002af9123140d89c62daea42a75_1_0_2 completed with success=False +[05/26 04:54:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5009: 1 episodes +[05/26 04:54:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:54:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:54:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5009 +[05/26 04:54:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5009 in 3.15s (batch: 3.06s, save: 0.09s) +[05/26 04:54:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5009 +[05/26 04:54:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5009: 0/1 successful episodes +[05/26 04:54:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5075 (index 26/37) +[05/26 04:54:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5075 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 04:54:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +[05/26 04:54:58 Worker 0 WARNING object_manager.py:1238] Could not find object objatapedispenser_44f566f4b8a34fd7b904dd55359017ed_1_0_7 in scene +[2026-05-26 04:56:17,260] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:56:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:44:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 5075 episode 0 object objalever_5d821ac7148240c092c4face44c1d096_1_0_6 completed with success=False +[05/26 05:44:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5075: 1 episodes +[05/26 05:44:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:44:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:44:43 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5075 +[05/26 05:44:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5075 in 3.00s (batch: 2.82s, save: 0.18s) +[05/26 05:44:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5075 +[05/26 05:44:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5075: 0/1 successful episodes +[05/26 05:44:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5153 (index 27/37) +[05/26 05:44:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5153 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 05:44:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[2026-05-26 05:47:14,016] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:48:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:51:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 5153 episode 0 object objadecorativemolding_4702dc29dd224b26a66e95b408e5ce85_1_0_7 completed with success=False +[05/26 05:52:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5153: 1 episodes +[05/26 05:52:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:52:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:52:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5153 +[05/26 05:52:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5153 in 3.05s (batch: 2.92s, save: 0.13s) +[05/26 05:52:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5153 +[05/26 05:52:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5153: 0/1 successful episodes +[05/26 05:52:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5178 (index 28/37) +[05/26 05:52:04 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 5178 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 05:52:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[2026-05-26 05:54:22,817] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:55:48 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:58:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 5178 episode 0 object objabeetle_a6f2a6fe7a3c4d19831f1bd79d664dcc_1_0_8 completed with success=False +[05/26 05:59:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[2026-05-26 06:00:57,956] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:01:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:03:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 5178 episode 1 object objamosaicfragment_780cc0fe43954935b548b72e5c9e129d_1_0_5 completed with success=False +[05/26 06:04:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5178: 2 episodes +[05/26 06:04:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:04:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:04:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:04:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:04:06 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5178 +[05/26 06:04:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5178 in 6.23s (batch: 5.91s, save: 0.32s) +[05/26 06:04:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5178 +[05/26 06:04:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5178: 0/2 successful episodes +[05/26 06:04:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5189 (index 29/37) +[05/26 06:04:07 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5189 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 06:04:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +[2026-05-26 06:06:24,783] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:07:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:14:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 5189 episode 0 object objasignage_2bf2a240a54742d194cd7e33e7c4c747_1_0_2 completed with success=False +[05/26 06:14:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5189: 1 episodes +[05/26 06:14:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:15:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:15:03 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5189 +[05/26 06:15:03 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5189 in 3.34s (batch: 3.15s, save: 0.19s) +[05/26 06:15:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5189 +[05/26 06:15:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5189: 0/1 successful episodes +[05/26 06:15:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5262 (index 30/37) +[05/26 06:15:03 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5262 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 06:15:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/44 [00:00 does not support tracking retries. +[05/26 06:15:23 Worker 0 WARNING object_manager.py:1238] Could not find object objacoil_c4fcd63753e740aa9efac5edfe7a7506_1_0_7 in scene +[05/26 06:15:23 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaperroll_d72efd4c78e146d88aeff93a721c5330_1_0_7 in scene +[2026-05-26 06:16:51,521] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:18:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:23:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 5262 episode 0 object objadecorativering_73d4f9433c2649d0bb702f46c01c3d9a_1_0_6 completed with success=False +[05/26 06:23:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5262: 1 episodes +[05/26 06:23:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:23:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:23:43 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5262 +[05/26 06:23:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5262 in 3.25s (batch: 3.11s, save: 0.14s) +[05/26 06:23:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5262 +[05/26 06:23:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5262: 0/1 successful episodes +[05/26 06:23:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5323 (index 31/37) +[05/26 06:23:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5323 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 06:23:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +[2026-05-26 06:25:29,804] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:25:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:29:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 5323 episode 0 object objasuppressor_03d3fab9cfb94bdfa9fcf0eff0eb1b75_1_0_8 completed with success=False +[05/26 06:29:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5323: 1 episodes +[05/26 06:29:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:29:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:29:19 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5323 +[05/26 06:29:19 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5323 in 3.17s (batch: 3.03s, save: 0.14s) +[05/26 06:29:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5323 +[05/26 06:29:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5323: 0/1 successful episodes +[05/26 06:29:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5408 (index 32/37) +[05/26 06:29:19 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5408 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 06:29:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +[05/26 06:29:31 Worker 0 WARNING object_manager.py:1238] Could not find object objastonedish_7bf14a57ee5345689c3efd4bd1616466_1_0_6 in scene +[05/26 06:29:31 Worker 0 WARNING object_manager.py:1238] Could not find object objanameplate_bc384e6f26f84b04997161e3acde4bc3_1_0_6 in scene +[2026-05-26 06:31:22,290] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:34:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 5408 episode 0 object objadecorativesign_748089ad5eb441ccb3e9f8561567b021_1_0_6 completed with success=False +[05/26 06:34:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5408: 1 episodes +[05/26 06:34:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:34:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:34:45 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5408 +[05/26 06:34:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5408 in 2.78s (batch: 2.64s, save: 0.13s) +[05/26 06:34:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5408 +[05/26 06:34:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5408: 0/1 successful episodes +[05/26 06:34:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5442 (index 33/37) +[05/26 06:34:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5442 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 06:34:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/59 [00:00 does not support tracking retries. +[05/26 06:34:59 Worker 0 WARNING object_manager.py:1238] Could not find object vase_6cb319ff57e79d3745bd6ac29c8adb3d_1_0_8 in scene +[2026-05-26 06:36:29,672] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:43:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 5442 episode 0 object objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_9 completed with success=False +[05/26 06:43:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5442: 1 episodes +[05/26 06:43:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:43:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:43:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5442 +[05/26 06:43:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5442 in 2.92s (batch: 2.83s, save: 0.09s) +[05/26 06:43:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5442 +[05/26 06:43:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5442: 0/1 successful episodes +[05/26 06:43:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5482 (index 34/37) +[05/26 06:43:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5482 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 06:43:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +[2026-05-26 06:45:00,408] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:45:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:47:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 5482 episode 0 object objastonetool_f5a48834fc66497ebc416ef94ec2eeeb_1_0_2 completed with success=False +[05/26 06:47:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5482: 1 episodes +[05/26 06:47:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:47:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:47:45 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5482 +[05/26 06:47:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5482 in 2.15s (batch: 2.06s, save: 0.09s) +[05/26 06:47:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5482 +[05/26 06:47:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5482: 0/1 successful episodes +[05/26 06:47:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5511 (index 35/37) +[05/26 06:47:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5511 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 06:47:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +[2026-05-26 06:48:55,887] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:53:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 5511 episode 0 object objapencilsharpener_90238a6e97484f7ca846101ed7f43eac_1_0_9 completed with success=False +[05/26 06:53:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5511: 1 episodes +[05/26 06:53:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:53:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:53:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5511 +[05/26 06:53:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5511 in 2.19s (batch: 2.10s, save: 0.09s) +[05/26 06:53:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5511 +[05/26 06:53:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5511: 0/1 successful episodes +[05/26 06:53:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5555 (index 36/37) +[05/26 06:53:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5555 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 06:53:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/12 [00:00 does not support tracking retries. +[05/26 06:53:19 Worker 0 WARNING object_manager.py:1238] Could not find object objatoyhouse_6404a5eb445d48e1a96d98e013904cf9_1_0_3 in scene +[05/26 06:53:19 Worker 0 WARNING object_manager.py:1238] Could not find object objalighter_a2db21b57424449f9a2d1aa08e5b0c90_1_0_3 in scene +[2026-05-26 06:54:18,517] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:54:34 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:57:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 5555 episode 0 object objadecorativeflower_99e08ec1b42241c080912996eebbffe6_1_0_2 completed with success=False +[05/26 06:57:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5555: 1 episodes +[05/26 06:57:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:57:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:57:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5555 +[05/26 06:57:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5555 in 2.50s (batch: 2.37s, save: 0.13s) +[05/26 06:57:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5555 +[05/26 06:57:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5555: 0/1 successful episodes +[05/26 06:57:32 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses +[05/26 06:57:32 INFO pipeline.py:1496] Completed 37 houses, skipped 0 houses +[05/26 06:57:32 INFO pipeline.py:1499] Success count: 0, Total count: 41 +[05/26 06:57:32 INFO pipeline.py:1500] Success rate: 0.00% +Combined 41 episodes from 37 files → /tmp/tmpgn34_c2g.h5 + +Saved → /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/results.csv at-end: 0.0% | oracle: 0.0% of 41 episodes +[2026-05-26 06:57:38,653] INFO MolmoSpaces simulator eval finished: success=0/41 rate=0.0000 output=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval +[2026-05-26 06:57:38,653] INFO Benchmark CSV: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/results.csv + +Submission artifacts ready: + CSV : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/submission/results.csv + Bundle zip : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/submission_bundle.zip + Summary : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/submission/summary.json + Full eval output : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval + Repro command : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/run_command.sh diff --git a/pnp_v2/pnp_v2/shards/shard_05/run.log b/pnp_v2/pnp_v2/shards/shard_05/run.log new file mode 100644 index 0000000000000000000000000000000000000000..0a44f766b3a016c550836d704949982461189aca --- /dev/null +++ b/pnp_v2/pnp_v2/shards/shard_05/run.log @@ -0,0 +1,1468 @@ +[2026-05-26 01:03:53,389] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath'] +[2026-05-26 01:03:53,538] INFO Selected MuJoCo backend: egl +[2026-05-26 01:03:53,555] INFO Using MolmoSpaces benchmark: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 (source=arg) +[2026-05-26 01:03:56,480] INFO No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +[nltk_data] Downloading package wordnet to /home/yuanpei/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /home/yuanpei/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +[2026-05-26 01:04:09,772] INFO ResourceManager (R2RemoteStorage('https://pub-3555e9bb2d304fab9c6c79819e48aa40.r2.dev')) using: + symlink_dir=/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets + cache_dir=/home/yuanpei/.cache/molmo-spaces-resources + force_install=True +/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py:129: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +[2026-05-26 01:04:37,710] INFO Requested MolmoSpaces simulator cameras: ['droid_shoulder_light_randomization', 'wrist_camera_zed_mini'] +[2026-05-26 01:04:37,718] INFO Using save_video_sensors=['__none__'] +[2026-05-26 01:04:41,189] INFO Resolved MolmoSpaces action semantics from checkpoint: source=pnp_next_to_v2 type=molmo_raw arm_action_key=joint_pos_rel gripper_action_key=joint_pos action_type=joint_pos_rel arm_command_mode=joint_rel_position +[2026-05-26 01:04:41,257] INFO Using explicit task_horizon override: 450 steps +[05/26 01:04:41 INFO pipeline.py:677] WandB logging disabled (environment variables not set) +[2026-05-26 01:04:41,324] INFO JsonEvalRunner initialized: 37 houses, 41 episodes from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 01:04:41 INFO pipeline.py:1279] Starting house-by-house rollout of 37 houses with 2 episodes each (74 total episodes) using 1 worker processes +[05/26 01:04:41 INFO pipeline.py:1286] Evaluation configuration: +[05/26 01:04:41 INFO pipeline.py:1287] {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['droid_shoulder_light_randomization', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 'wan_molmobot_franka', + 'obs_camera_name': 'droid_shoulder_light_randomization', + 'obs_image_key': 'rgb_head', + 'obs_state_key': 'robot_state', + 'obs_wrist_camera_name': 'wrist_camera_zed_mini', + 'obs_wrist_image_key': 'rgb_wrist', + 'policy_cls': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [3886, + 3916, + 3961, + 4005, + 4041, + 4124, + 4155, + 4163, + 4256, + 4322, + 4365, + 4403, + 4441, + 4505, + 4511, + 4556, + 4634, + 4686, + 4723, + 4750, + 4796, + 4836, + 4900, + 4954, + 4965, + 5009, + 5075, + 5153, + 5178, + 5189, + 5262, + 5323, + 5408, + 5442, + 5482, + 5511, + 5555], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} +[2026-05-26 01:04:41,341] INFO Saved experiment configuration to /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441 +[05/26 01:04:41 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler +[05/26 01:04:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/26 01:04:41 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler +[05/26 01:04:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3886 (index 0/37) +[05/26 01:04:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3886 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 01:04:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +[05/26 01:05:04 Worker 0 WARNING object_manager.py:1238] Could not find object objahandaxe_edf08aca9c6b4b598c267da1596b58d4_1_0_2 in scene +[05/26 01:05:04 Worker 0 WARNING object_manager.py:1238] Could not find object bowl_4d97da0c296398947839b0e020453a0f_1_0_2 in scene +2026-05-26 01:06:06.585 | INFO | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0 +[2026-05-26 01:06:42,047] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k) +[2026-05-26 01:06:44,108] INFO [timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k] Safe alternative available for 'pytorch_model.bin' (as 'model.safetensors'). Loading weights using safetensors. +[2026-05-26 01:08:51,514] INFO Number of parameters in DiT: 1.821428e+07 +[2026-05-26 01:09:04,850] INFO Loaded generic psi-policy checkpoint | target=psi_policy.policy.psi_policy.PsiPolicy | obs_keys=['rgb_head', 'rgb_wrist', 'robot_state', 'text_context'] | action_horizon=16 | action_dim=8 +[2026-05-26 01:09:04,857] INFO Loaded MolmoSpaces policy | checkpoint=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt | target=psi_policy.policy.psi_policy.PsiPolicy | device=cuda:0 | action_chunk_size=8 +[05/26 01:09:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:13:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 3886 episode 0 object objahandaxe_ebb899473a5a41649e6cb25f3b27563b_1_0_2 completed with success=False +[05/26 01:13:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3886: 1 episodes +[05/26 01:13:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:13:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:13:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_3886 +[05/26 01:13:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3886 in 5.83s (batch: 5.58s, save: 0.26s) +[05/26 01:13:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3886 +[05/26 01:13:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3886: 0/1 successful episodes +[05/26 01:13:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3916 (index 1/37) +[05/26 01:13:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3916 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 01:13:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/7 [00:00 does not support tracking retries. +[05/26 01:16:54 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:24:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 3916 episode 0 object objatoyjet_cd2a4b5fdf9b4b5b83de34c24cec1f56_1_0_2 completed with success=False +[05/26 01:24:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3916: 1 episodes +[05/26 01:24:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:24:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:24:28 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_3916 +[05/26 01:24:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3916 in 2.21s (batch: 2.12s, save: 0.09s) +[05/26 01:24:28 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3916 +[05/26 01:24:28 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3916: 0/1 successful episodes +[05/26 01:24:28 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3961 (index 2/37) +[05/26 01:24:28 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3961 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 01:24:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +[05/26 01:26:33 Worker 0 WARNING object_manager.py:1238] Could not find object objafantasyplant_c8251feed92f41f197376ab4fd543e27_1_0_6 in scene +[05/26 01:26:33 Worker 0 WARNING object_manager.py:1238] Could not find object objamannequinhand_9507be033ab14d248bc3479e16927993_1_0_6 in scene +[05/26 01:26:33 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_6 in scene +[05/26 01:26:33 Worker 0 WARNING object_manager.py:1238] Could not find object apple_ff93afa9f54bdc5d2bd30356940afcac_1_0_6 in scene +[05/26 01:26:33 Worker 0 WARNING object_manager.py:1238] Could not find object objastoneslab_31b90e243892445380948dc39af237cf_1_0_7 in scene +[2026-05-26 01:27:28,223] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/huggingface_hub/file_download.py:945: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`. + warnings.warn( +[05/26 01:30:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 3961 episode 0 object objacalculatorradio_d17ba864b7a94eacaa34ee919210ba8d_1_0_6 completed with success=False +[05/26 01:30:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3961: 1 episodes +[05/26 01:30:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:30:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:30:06 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_3961 +[05/26 01:30:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3961 in 2.13s (batch: 2.03s, save: 0.10s) +[05/26 01:30:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3961 +[05/26 01:30:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3961: 0/1 successful episodes +[05/26 01:30:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4005 (index 3/37) +[05/26 01:30:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4005 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 01:30:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/39 [00:00 does not support tracking retries. +[2026-05-26 01:35:11,932] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 01:40:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 4005 episode 0 object objadslrcamera_74868e16ced243c088207e5d7da8c750_1_0_9 completed with success=False +[05/26 01:40:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4005: 1 episodes +[05/26 01:40:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:40:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:40:08 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4005 +[05/26 01:40:08 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4005 in 3.42s (batch: 3.33s, save: 0.09s) +[05/26 01:40:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4005 +[05/26 01:40:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4005: 0/1 successful episodes +[05/26 01:40:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4041 (index 4/37) +[05/26 01:40:09 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4041 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 01:40:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/17 [00:00 does not support tracking retries. +[05/26 01:41:23 Worker 0 WARNING object_manager.py:1238] Could not find object apple_523cec3bd66eec1b41ffd2506874d275_1_0_2 in scene +[2026-05-26 01:42:53,247] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 01:43:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:45:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 4041 episode 0 object knife_0bc93f198121d33ac4030a34bfc944a4_1_0_2 completed with success=False +[05/26 01:45:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4041: 1 episodes +[05/26 01:45:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:45:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:45:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4041 +[05/26 01:45:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4041 in 2.25s (batch: 2.16s, save: 0.09s) +[05/26 01:45:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4041 +[05/26 01:45:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4041: 0/1 successful episodes +[05/26 01:45:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4124 (index 5/37) +[05/26 01:45:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4124 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 01:45:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[2026-05-26 01:54:21,971] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 01:57:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 4124 episode 0 object objapackaging_33c69733e61e4cc1953c79a1806b89ab_1_0_7 completed with success=False +[05/26 01:57:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4124: 1 episodes +[05/26 01:57:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:57:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:57:29 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4124 +[05/26 01:57:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4124 in 3.74s (batch: 3.63s, save: 0.12s) +[05/26 01:57:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4124 +[05/26 01:57:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4124: 0/1 successful episodes +[05/26 01:57:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4155 (index 6/37) +[05/26 01:57:30 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4155 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 01:57:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +[05/26 01:57:51 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativelighthouse_efc08602dbff41d28ab59d29b36fdb05_1_0_3 in scene +[05/26 01:57:51 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativekey_b891ef9e4e564492b6fe0db01ebeae72_1_0_3 in scene +[05/26 01:57:51 Worker 0 WARNING object_manager.py:1238] Could not find object box_e01bbd7deecc2b767c1f2ee9de0d6982_1_0_4 in scene +[2026-05-26 01:59:44,113] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:00:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:07:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 4155 episode 0 object objagoblet_2e5243eb355c4b0c90aed7281e93d5a6_1_0_2 completed with success=False +[05/26 02:07:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +[05/26 02:07:50 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativelighthouse_efc08602dbff41d28ab59d29b36fdb05_1_0_3 in scene +[05/26 02:07:50 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativekey_b891ef9e4e564492b6fe0db01ebeae72_1_0_3 in scene +[05/26 02:07:50 Worker 0 WARNING object_manager.py:1238] Could not find object box_e01bbd7deecc2b767c1f2ee9de0d6982_1_0_4 in scene +[2026-05-26 02:09:57,708] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:11:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:15:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 4155 episode 1 object objanightvisiongoggles_11705eaaae174eababc45a53203f59ce_1_0_6 completed with success=False +[05/26 02:15:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4155: 2 episodes +[05/26 02:15:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:15:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:15:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:15:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:15:45 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4155 +[05/26 02:15:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4155 in 6.39s (batch: 6.14s, save: 0.25s) +[05/26 02:15:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4155 +[05/26 02:15:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4155: 0/2 successful episodes +[05/26 02:15:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4163 (index 7/37) +[05/26 02:15:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4163 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 02:15:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +[2026-05-26 02:17:24,665] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:22:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 4163 episode 0 object objamoviecamera_64bd72851ef349ef9cd24403df1789ad_1_0_6 completed with success=False +[05/26 02:22:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4163: 1 episodes +[05/26 02:22:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:22:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:22:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4163 +[05/26 02:22:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4163 in 3.47s (batch: 3.32s, save: 0.15s) +[05/26 02:22:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4163 +[05/26 02:22:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4163: 0/1 successful episodes +[05/26 02:22:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4256 (index 8/37) +[05/26 02:22:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4256 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 02:22:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[2026-05-26 02:24:50,967] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:26:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:31:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 4256 episode 0 object objadigitalcamera_8b7daba1ebb641448a316946a6dc1837_1_0_4 completed with success=False +[05/26 02:31:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4256: 1 episodes +[05/26 02:31:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:31:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:31:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4256 +[05/26 02:31:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4256 in 2.73s (batch: 2.62s, save: 0.11s) +[05/26 02:31:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4256 +[05/26 02:31:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4256: 0/1 successful episodes +[05/26 02:31:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4322 (index 9/37) +[05/26 02:31:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4322 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 02:31:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +[2026-05-26 02:33:44,443] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:34:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:38:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 4322 episode 0 object objasecuritykeypad_e3e26581572f467d84958a12d6305aae_1_0_4 completed with success=False +[05/26 02:38:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4322: 1 episodes +[05/26 02:38:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:38:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:38:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4322 +[05/26 02:38:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4322 in 2.97s (batch: 2.77s, save: 0.20s) +[05/26 02:38:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4322 +[05/26 02:38:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4322: 0/1 successful episodes +[05/26 02:38:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4365 (index 10/37) +[05/26 02:38:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4365 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 02:38:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +[2026-05-26 02:40:34,076] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:48:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 4365 episode 0 object objasneaker_a1800b2df030447c93a892c85c8af8ef_1_0_5 completed with success=False +[05/26 02:48:56 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4365: 1 episodes +[05/26 02:48:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:49:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:49:00 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4365 +[05/26 02:49:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4365 in 3.80s (batch: 3.66s, save: 0.14s) +[05/26 02:49:01 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4365 +[05/26 02:49:01 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4365: 0/1 successful episodes +[05/26 02:49:01 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4403 (index 11/37) +[05/26 02:49:01 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4403 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 02:49:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 does not support tracking retries. +[05/26 02:49:11 Worker 0 WARNING object_manager.py:1238] Could not find object cellulartelephone_f65c71e22b7e94dd68f01167ec92b467_1_0_4 in scene +[2026-05-26 02:51:01,105] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:52:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:02:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 4403 episode 0 object objadecorativeenvelope_303b287819a84f7496bd92f5d69710c7_1_0_2 completed with success=False +[05/26 03:02:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4403: 1 episodes +[05/26 03:02:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:02:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:02:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4403 +[05/26 03:02:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4403 in 3.20s (batch: 3.09s, save: 0.11s) +[05/26 03:02:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4403 +[05/26 03:02:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4403: 0/1 successful episodes +[05/26 03:02:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4441 (index 12/37) +[05/26 03:02:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4441 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 03:02:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[2026-05-26 03:04:50,860] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:12:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 4441 episode 0 object objaticket_c57b100f3adc47ef8c8432c090ac770f_1_0_9 completed with success=False +[05/26 03:12:17 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4441: 1 episodes +[05/26 03:12:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:12:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:12:20 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4441 +[05/26 03:12:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4441 in 3.20s (batch: 3.03s, save: 0.16s) +[05/26 03:12:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4441 +[05/26 03:12:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4441: 0/1 successful episodes +[05/26 03:12:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4505 (index 13/37) +[05/26 03:12:21 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4505 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 03:12:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/27 [00:00 does not support tracking retries. +[2026-05-26 03:14:29,323] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:18:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 4505 episode 0 object objabird_5a91277584a645ac85029d4f7342b742_1_0_7 completed with success=False +[05/26 03:18:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/27 [00:00 does not support tracking retries. +[2026-05-26 03:21:03,659] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:21:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:23:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 4505 episode 1 object objadecorativeblade_c38337ff48c9480788b04c3afa7464a9_1_0_4 completed with success=False +[05/26 03:23:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4505: 2 episodes +[05/26 03:23:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:23:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:24:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:24:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:24:01 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4505 +[05/26 03:24:01 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4505 in 6.30s (batch: 6.03s, save: 0.27s) +[05/26 03:24:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4505 +[05/26 03:24:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4505: 0/2 successful episodes +[05/26 03:24:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4511 (index 14/37) +[05/26 03:24:02 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4511 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 03:24:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +[05/26 03:24:15 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativekey_ac8042fa5b204af3a12dd8c588c54ef3_1_0_5 in scene +[05/26 03:24:15 Worker 0 WARNING object_manager.py:1238] Could not find object objaconcretesample_51dcd7c7aa21436bbfda21d405868a11_1_0_5 in scene +[2026-05-26 03:25:56,839] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:31:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 4511 episode 0 object objadecorativetext_452e73c35de349d394a7592fdc0200e6_1_0_6 completed with success=False +[05/26 03:31:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4511: 1 episodes +[05/26 03:31:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:31:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:31:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4511 +[05/26 03:31:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4511 in 2.74s (batch: 2.59s, save: 0.16s) +[05/26 03:31:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4511 +[05/26 03:31:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4511: 0/1 successful episodes +[05/26 03:31:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4556 (index 15/37) +[05/26 03:31:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4556 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 03:31:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 does not support tracking retries. +[05/26 03:31:39 Worker 0 WARNING object_manager.py:1238] Could not find object box_cab37dabf893c5e8d3c18a3ad1a8b8eb_1_0_3 in scene +[05/26 03:31:39 Worker 0 WARNING object_manager.py:1238] Could not find object objaphotoalbum_6d34266a9ed14aa69c8d0baccdb9081a_1_0_4 in scene +[05/26 03:31:39 Worker 0 WARNING object_manager.py:1238] Could not find object objamask_0741405f9d9942e292dc1d0eb20fa815_1_0_5 in scene +[05/26 03:31:39 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_8c6e5265f19b49709119c2628c2bdf3f_1_0_5 in scene +[2026-05-26 03:33:56,242] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:35:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:42:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 4556 episode 0 object objaremotecontrol_f14da6318f904052920e78b9bb1a19ef_1_0_3 completed with success=False +[05/26 03:43:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4556: 1 episodes +[05/26 03:43:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:43:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:43:03 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4556 +[05/26 03:43:03 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4556 in 3.80s (batch: 3.61s, save: 0.19s) +[05/26 03:43:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4556 +[05/26 03:43:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4556: 0/1 successful episodes +[05/26 03:43:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4634 (index 16/37) +[05/26 03:43:04 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4634 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 03:43:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/26 [00:00 does not support tracking retries. +[05/26 03:43:14 Worker 0 WARNING object_manager.py:1238] Could not find object vase_d568e4c5c2948c69c05d527517276b06_2_0_7 in scene +[2026-05-26 03:44:27,526] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:48:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 4634 episode 0 object objatoiletpaper_903ed803932340b19104cf5232c5dcc4_1_0_5 completed with success=False +[05/26 03:48:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4634: 1 episodes +[05/26 03:48:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:48:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:48:47 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4634 +[05/26 03:48:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4634 in 3.93s (batch: 3.76s, save: 0.17s) +[05/26 03:48:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4634 +[05/26 03:48:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4634: 0/1 successful episodes +[05/26 03:48:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4686 (index 17/37) +[05/26 03:48:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4686 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 03:48:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/14 [00:00 does not support tracking retries. +[05/26 03:48:53 Worker 0 WARNING object_manager.py:1238] Could not find object objamechanicalcomponent_1bdce5bc26ad44c28d89284da6c3a8cf_1_0_2 in scene +[05/26 03:48:53 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_92169e2640439bd67fb105701482b508_1_0_2 in scene +[2026-05-26 03:51:19,655] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:52:39 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:55:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 4686 episode 0 object objastraightrazor_a595190ce57a41cda01ff84d5c9eeb06_1_0_2 completed with success=False +[05/26 03:56:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4686: 1 episodes +[05/26 03:56:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:56:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:56:08 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4686 +[05/26 03:56:08 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4686 in 3.69s (batch: 3.27s, save: 0.42s) +[05/26 03:56:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4686 +[05/26 03:56:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4686: 0/1 successful episodes +[05/26 03:56:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4723 (index 18/37) +[05/26 03:56:09 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4723 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 03:56:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/44 [00:00 does not support tracking retries. +[2026-05-26 03:58:04,809] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:02:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 4723 episode 0 object objavessel_8bd6e267f265481682e17f696b201103_1_0_8 completed with success=False +[05/26 04:02:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4723: 1 episodes +[05/26 04:02:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:02:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:02:38 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4723 +[05/26 04:02:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4723 in 4.51s (batch: 4.24s, save: 0.27s) +[05/26 04:02:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4723 +[05/26 04:02:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4723: 0/1 successful episodes +[05/26 04:02:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4750 (index 19/37) +[05/26 04:02:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4750 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 04:02:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/14 [00:00 does not support tracking retries. +[2026-05-26 04:05:10,194] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:05:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:08:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 4750 episode 0 object objamidikeyboard_d5391486d5aa4d6aa54777beecd49534_1_0_3 completed with success=False +[05/26 04:08:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4750: 1 episodes +[05/26 04:08:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:08:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:08:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4750 +[05/26 04:08:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4750 in 2.63s (batch: 2.45s, save: 0.18s) +[05/26 04:08:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4750 +[05/26 04:08:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4750: 0/1 successful episodes +[05/26 04:08:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4796 (index 20/37) +[05/26 04:08:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4796 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 04:08:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[2026-05-26 04:10:46,996] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:16:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 4796 episode 0 object objabeveragecarton_55d0a4c01b9e4a2cab8112162ea61cfb_1_0_9 completed with success=False +[05/26 04:16:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4796: 1 episodes +[05/26 04:16:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:16:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:16:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4796 +[05/26 04:16:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4796 in 4.11s (batch: 3.86s, save: 0.24s) +[05/26 04:16:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4796 +[05/26 04:16:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4796: 0/1 successful episodes +[05/26 04:16:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4836 (index 21/37) +[05/26 04:16:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4836 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 04:16:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +[05/26 04:16:46 Worker 0 WARNING object_manager.py:1238] Could not find object objahinge_4587c40e36704e7a96ffebad95028160_1_0_8 in scene +[05/26 04:16:46 Worker 0 WARNING object_manager.py:1238] Could not find object tomato_b4fe73bc978b2372694676fd9d6ef462_2_0_8 in scene +[2026-05-26 04:18:54,558] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:20:23 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:24:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 4836 episode 0 object objamagnet_d2d922add236472ea43a39de0d739755_1_0_9 completed with success=False +[05/26 04:24:06 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4836: 1 episodes +[05/26 04:24:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:24:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:24:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4836 +[05/26 04:24:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4836 in 3.11s (batch: 3.01s, save: 0.10s) +[05/26 04:24:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4836 +[05/26 04:24:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4836: 0/1 successful episodes +[05/26 04:24:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4900 (index 22/37) +[05/26 04:24:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4900 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 04:24:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +[2026-05-26 04:25:53,703] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:33:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 4900 episode 0 object objaring_c20681970f3f4e449aeec50291be17b1_1_0_2 completed with success=False +[05/26 04:33:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4900: 1 episodes +[05/26 04:33:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:33:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:33:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4900 +[05/26 04:33:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4900 in 2.80s (batch: 2.71s, save: 0.10s) +[05/26 04:33:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4900 +[05/26 04:33:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4900: 0/1 successful episodes +[05/26 04:33:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4954 (index 23/37) +[05/26 04:33:46 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4954 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 04:33:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/26 04:33:54 Worker 0 WARNING object_manager.py:1238] Could not find object lettuce_78266f6bc320cc73d50a37e54430a582_1_0_2 in scene +[2026-05-26 04:35:22,018] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:38:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 4954 episode 0 object objadoorlock_3d56a40e1bae492b89072f71651d2d63_1_0_3 completed with success=False +[05/26 04:38:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/26 04:38:21 Worker 0 WARNING object_manager.py:1238] Could not find object lettuce_78266f6bc320cc73d50a37e54430a582_1_0_2 in scene +[2026-05-26 04:39:25,593] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:39:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:42:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 4954 episode 1 object objaelectronicdisplay_39fdfa7c14a640b58a5ff5e47a1af37c_1_0_7 completed with success=False +[05/26 04:42:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4954: 2 episodes +[05/26 04:42:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:42:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:43:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:43:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:43:00 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4954 +[05/26 04:43:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4954 in 7.76s (batch: 7.30s, save: 0.46s) +[05/26 04:43:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4954 +[05/26 04:43:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4954: 0/2 successful episodes +[05/26 04:43:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4965 (index 24/37) +[05/26 04:43:00 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4965 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 04:43:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/13 [00:00 does not support tracking retries. +[2026-05-26 04:45:04,003] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:45:47 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:48:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 4965 episode 0 object cup_56edd85aeab4ab58cc2b44e71d5e86bf_1_0_2 completed with success=False +[05/26 04:48:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4965: 1 episodes +[05/26 04:48:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:48:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:48:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4965 +[05/26 04:48:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4965 in 3.13s (batch: 2.97s, save: 0.16s) +[05/26 04:48:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4965 +[05/26 04:48:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4965: 0/1 successful episodes +[05/26 04:48:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5009 (index 25/37) +[05/26 04:48:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5009 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 04:48:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/12 [00:00 does not support tracking retries. +[05/26 04:48:19 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeheadpiece_f467a02f004e4135aaa59de93fe2d23c_1_0_3 in scene +[05/26 04:48:19 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_c60254aae031ecd4e316a5add61459a4_1_0_3 in scene +[2026-05-26 04:50:03,938] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:54:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 5009 episode 0 object bowl_78149002af9123140d89c62daea42a75_1_0_2 completed with success=False +[05/26 04:54:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5009: 1 episodes +[05/26 04:54:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:54:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:54:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5009 +[05/26 04:54:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5009 in 3.15s (batch: 3.06s, save: 0.09s) +[05/26 04:54:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5009 +[05/26 04:54:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5009: 0/1 successful episodes +[05/26 04:54:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5075 (index 26/37) +[05/26 04:54:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5075 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 04:54:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +[05/26 04:54:58 Worker 0 WARNING object_manager.py:1238] Could not find object objatapedispenser_44f566f4b8a34fd7b904dd55359017ed_1_0_7 in scene +[2026-05-26 04:56:17,260] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:56:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:44:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 5075 episode 0 object objalever_5d821ac7148240c092c4face44c1d096_1_0_6 completed with success=False +[05/26 05:44:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5075: 1 episodes +[05/26 05:44:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:44:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:44:43 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5075 +[05/26 05:44:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5075 in 3.00s (batch: 2.82s, save: 0.18s) +[05/26 05:44:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5075 +[05/26 05:44:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5075: 0/1 successful episodes +[05/26 05:44:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5153 (index 27/37) +[05/26 05:44:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5153 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 05:44:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[2026-05-26 05:47:14,016] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:48:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:51:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 5153 episode 0 object objadecorativemolding_4702dc29dd224b26a66e95b408e5ce85_1_0_7 completed with success=False +[05/26 05:52:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5153: 1 episodes +[05/26 05:52:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:52:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:52:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5153 +[05/26 05:52:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5153 in 3.05s (batch: 2.92s, save: 0.13s) +[05/26 05:52:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5153 +[05/26 05:52:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5153: 0/1 successful episodes +[05/26 05:52:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5178 (index 28/37) +[05/26 05:52:04 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 5178 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 05:52:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[2026-05-26 05:54:22,817] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:55:48 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:58:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 5178 episode 0 object objabeetle_a6f2a6fe7a3c4d19831f1bd79d664dcc_1_0_8 completed with success=False +[05/26 05:59:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[2026-05-26 06:00:57,956] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:01:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:03:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 5178 episode 1 object objamosaicfragment_780cc0fe43954935b548b72e5c9e129d_1_0_5 completed with success=False +[05/26 06:04:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5178: 2 episodes +[05/26 06:04:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:04:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:04:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:04:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:04:06 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5178 +[05/26 06:04:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5178 in 6.23s (batch: 5.91s, save: 0.32s) +[05/26 06:04:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5178 +[05/26 06:04:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5178: 0/2 successful episodes +[05/26 06:04:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5189 (index 29/37) +[05/26 06:04:07 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5189 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 06:04:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +[2026-05-26 06:06:24,783] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:07:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:14:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 5189 episode 0 object objasignage_2bf2a240a54742d194cd7e33e7c4c747_1_0_2 completed with success=False +[05/26 06:14:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5189: 1 episodes +[05/26 06:14:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:15:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:15:03 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5189 +[05/26 06:15:03 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5189 in 3.34s (batch: 3.15s, save: 0.19s) +[05/26 06:15:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5189 +[05/26 06:15:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5189: 0/1 successful episodes +[05/26 06:15:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5262 (index 30/37) +[05/26 06:15:03 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5262 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 06:15:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/44 [00:00 does not support tracking retries. +[05/26 06:15:23 Worker 0 WARNING object_manager.py:1238] Could not find object objacoil_c4fcd63753e740aa9efac5edfe7a7506_1_0_7 in scene +[05/26 06:15:23 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaperroll_d72efd4c78e146d88aeff93a721c5330_1_0_7 in scene +[2026-05-26 06:16:51,521] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:18:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:23:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 5262 episode 0 object objadecorativering_73d4f9433c2649d0bb702f46c01c3d9a_1_0_6 completed with success=False +[05/26 06:23:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5262: 1 episodes +[05/26 06:23:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:23:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:23:43 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5262 +[05/26 06:23:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5262 in 3.25s (batch: 3.11s, save: 0.14s) +[05/26 06:23:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5262 +[05/26 06:23:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5262: 0/1 successful episodes +[05/26 06:23:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5323 (index 31/37) +[05/26 06:23:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5323 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 06:23:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +[2026-05-26 06:25:29,804] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:25:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:29:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 5323 episode 0 object objasuppressor_03d3fab9cfb94bdfa9fcf0eff0eb1b75_1_0_8 completed with success=False +[05/26 06:29:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5323: 1 episodes +[05/26 06:29:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:29:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:29:19 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5323 +[05/26 06:29:19 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5323 in 3.17s (batch: 3.03s, save: 0.14s) +[05/26 06:29:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5323 +[05/26 06:29:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5323: 0/1 successful episodes +[05/26 06:29:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5408 (index 32/37) +[05/26 06:29:19 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5408 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 06:29:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +[05/26 06:29:31 Worker 0 WARNING object_manager.py:1238] Could not find object objastonedish_7bf14a57ee5345689c3efd4bd1616466_1_0_6 in scene +[05/26 06:29:31 Worker 0 WARNING object_manager.py:1238] Could not find object objanameplate_bc384e6f26f84b04997161e3acde4bc3_1_0_6 in scene +[2026-05-26 06:31:22,290] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:34:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 5408 episode 0 object objadecorativesign_748089ad5eb441ccb3e9f8561567b021_1_0_6 completed with success=False +[05/26 06:34:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5408: 1 episodes +[05/26 06:34:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:34:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:34:45 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5408 +[05/26 06:34:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5408 in 2.78s (batch: 2.64s, save: 0.13s) +[05/26 06:34:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5408 +[05/26 06:34:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5408: 0/1 successful episodes +[05/26 06:34:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5442 (index 33/37) +[05/26 06:34:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5442 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 06:34:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/59 [00:00 does not support tracking retries. +[05/26 06:34:59 Worker 0 WARNING object_manager.py:1238] Could not find object vase_6cb319ff57e79d3745bd6ac29c8adb3d_1_0_8 in scene +[2026-05-26 06:36:29,672] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:43:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 5442 episode 0 object objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_9 completed with success=False +[05/26 06:43:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5442: 1 episodes +[05/26 06:43:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:43:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:43:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5442 +[05/26 06:43:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5442 in 2.92s (batch: 2.83s, save: 0.09s) +[05/26 06:43:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5442 +[05/26 06:43:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5442: 0/1 successful episodes +[05/26 06:43:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5482 (index 34/37) +[05/26 06:43:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5482 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 06:43:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +[2026-05-26 06:45:00,408] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:45:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:47:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 5482 episode 0 object objastonetool_f5a48834fc66497ebc416ef94ec2eeeb_1_0_2 completed with success=False +[05/26 06:47:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5482: 1 episodes +[05/26 06:47:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:47:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:47:45 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5482 +[05/26 06:47:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5482 in 2.15s (batch: 2.06s, save: 0.09s) +[05/26 06:47:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5482 +[05/26 06:47:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5482: 0/1 successful episodes +[05/26 06:47:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5511 (index 35/37) +[05/26 06:47:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5511 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 06:47:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +[2026-05-26 06:48:55,887] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:53:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 5511 episode 0 object objapencilsharpener_90238a6e97484f7ca846101ed7f43eac_1_0_9 completed with success=False +[05/26 06:53:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5511: 1 episodes +[05/26 06:53:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:53:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:53:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5511 +[05/26 06:53:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5511 in 2.19s (batch: 2.10s, save: 0.09s) +[05/26 06:53:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5511 +[05/26 06:53:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5511: 0/1 successful episodes +[05/26 06:53:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5555 (index 36/37) +[05/26 06:53:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5555 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 06:53:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/12 [00:00 does not support tracking retries. +[05/26 06:53:19 Worker 0 WARNING object_manager.py:1238] Could not find object objatoyhouse_6404a5eb445d48e1a96d98e013904cf9_1_0_3 in scene +[05/26 06:53:19 Worker 0 WARNING object_manager.py:1238] Could not find object objalighter_a2db21b57424449f9a2d1aa08e5b0c90_1_0_3 in scene +[2026-05-26 06:54:18,517] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:54:34 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:57:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 5555 episode 0 object objadecorativeflower_99e08ec1b42241c080912996eebbffe6_1_0_2 completed with success=False +[05/26 06:57:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5555: 1 episodes +[05/26 06:57:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:57:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:57:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5555 +[05/26 06:57:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5555 in 2.50s (batch: 2.37s, save: 0.13s) +[05/26 06:57:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5555 +[05/26 06:57:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5555: 0/1 successful episodes +[05/26 06:57:32 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses +[05/26 06:57:32 INFO pipeline.py:1496] Completed 37 houses, skipped 0 houses +[05/26 06:57:32 INFO pipeline.py:1499] Success count: 0, Total count: 41 +[05/26 06:57:32 INFO pipeline.py:1500] Success rate: 0.00% +Combined 41 episodes from 37 files → /tmp/tmpgn34_c2g.h5 + +Saved → /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/results.csv at-end: 0.0% | oracle: 0.0% of 41 episodes +[2026-05-26 06:57:38,653] INFO MolmoSpaces simulator eval finished: success=0/41 rate=0.0000 output=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval +[2026-05-26 06:57:38,653] INFO Benchmark CSV: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/results.csv diff --git a/pnp_v2/pnp_v2/shards/shard_05/run_command.sh b/pnp_v2/pnp_v2/shards/shard_05/run_command.sh new file mode 100644 index 0000000000000000000000000000000000000000..8e6f37a2fb2d13f4b462fc88924db4399041240c --- /dev/null +++ b/pnp_v2/pnp_v2/shards/shard_05/run_command.sh @@ -0,0 +1,4 @@ +#!/usr/bin/env bash +set -euo pipefail +cd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy +conda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament diff --git a/pnp_v2/pnp_v2/shards/shard_06.launcher.log b/pnp_v2/pnp_v2/shards/shard_06.launcher.log new file mode 100644 index 0000000000000000000000000000000000000000..e69510232fb0ef3466ecf83344863a04ab94bb9b --- /dev/null +++ b/pnp_v2/pnp_v2/shards/shard_06.launcher.log @@ -0,0 +1,1685 @@ +================================================================================ +Official MolmoSpaces Submission Run +================================================================================ +Checkpoint : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt +Benchmark dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +Output root : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06 +Eval output dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval +Submission dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/submission +Conda env : molmospace +Policy name : latest +Policy device : cuda:0 +Text embedding device : cpu +Prompt cache dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan +Workers : 1 +Task horizon steps : 450 +Action chunk size : 8 +Obs camera : droid_shoulder_light_randomization +Obs wrist camera : wrist_camera_zed_mini +Camera names : droid_shoulder_light_randomization wrist_camera_zed_mini +Preview camera names : droid_shoulder_light_randomization +End on success : 1 +Visualization : 0 +Save raw videos : 0 +Save video sensors : __none__ +Success condition (CSV) : both + +Official runner : molmo_spaces.evaluation.run_evaluation() +CSV exporter : molmospaces/scripts/benchmarks/eval_to_csv.py + +Command +conda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament +================================================================================ +[2026-05-26 01:03:53,419] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath'] +[2026-05-26 01:03:53,539] INFO Selected MuJoCo backend: egl +[2026-05-26 01:03:53,559] INFO Using MolmoSpaces benchmark: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 (source=arg) +[2026-05-26 01:03:56,406] INFO No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +[nltk_data] Downloading package wordnet to /home/yuanpei/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /home/yuanpei/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +[2026-05-26 01:04:12,109] INFO ResourceManager (R2RemoteStorage('https://pub-3555e9bb2d304fab9c6c79819e48aa40.r2.dev')) using: + symlink_dir=/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets + cache_dir=/home/yuanpei/.cache/molmo-spaces-resources + force_install=True +/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py:129: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +[2026-05-26 01:04:43,340] INFO Requested MolmoSpaces simulator cameras: ['droid_shoulder_light_randomization', 'wrist_camera_zed_mini'] +[2026-05-26 01:04:43,343] INFO Using save_video_sensors=['__none__'] +[2026-05-26 01:04:46,645] INFO Resolved MolmoSpaces action semantics from checkpoint: source=pnp_next_to_v2 type=molmo_raw arm_action_key=joint_pos_rel gripper_action_key=joint_pos action_type=joint_pos_rel arm_command_mode=joint_rel_position +[2026-05-26 01:04:46,686] INFO Using explicit task_horizon override: 450 steps +[05/26 01:04:46 INFO pipeline.py:677] WandB logging disabled (environment variables not set) +[2026-05-26 01:04:46,754] INFO JsonEvalRunner initialized: 42 houses, 47 episodes from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 01:04:46 INFO pipeline.py:1279] Starting house-by-house rollout of 42 houses with 2 episodes each (84 total episodes) using 1 worker processes +[05/26 01:04:46 INFO pipeline.py:1286] Evaluation configuration: +[05/26 01:04:46 INFO pipeline.py:1287] {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['droid_shoulder_light_randomization', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 'wan_molmobot_franka', + 'obs_camera_name': 'droid_shoulder_light_randomization', + 'obs_image_key': 'rgb_head', + 'obs_state_key': 'robot_state', + 'obs_wrist_camera_name': 'wrist_camera_zed_mini', + 'obs_wrist_image_key': 'rgb_wrist', + 'policy_cls': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [3665, + 3712, + 3723, + 3772, + 3839, + 3890, + 3939, + 3969, + 4008, + 4043, + 4130, + 4169, + 4174, + 4258, + 4329, + 4370, + 4404, + 4455, + 4512, + 4561, + 4572, + 4636, + 4691, + 4726, + 4751, + 4798, + 4847, + 4904, + 4976, + 4978, + 5013, + 5096, + 5160, + 5182, + 5197, + 5266, + 5327, + 5416, + 5453, + 5483, + 5521, + 5559], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} +[2026-05-26 01:04:46,780] INFO Saved experiment configuration to /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446 +[05/26 01:04:46 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler +[05/26 01:04:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/26 01:04:46 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler +[05/26 01:04:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3665 (index 0/42) +[05/26 01:04:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3665 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 01:04:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes + Checking objects/objaverse: 0%| | 0/8 [00:00 does not support tracking retries. +2026-05-26 01:06:02.889 | INFO | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0 +[2026-05-26 01:06:36,223] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k) +[2026-05-26 01:06:36,628] INFO [timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k] Safe alternative available for 'pytorch_model.bin' (as 'model.safetensors'). Loading weights using safetensors. +[2026-05-26 01:08:45,496] INFO Number of parameters in DiT: 1.821428e+07 +[2026-05-26 01:09:00,886] INFO Loaded generic psi-policy checkpoint | target=psi_policy.policy.psi_policy.PsiPolicy | obs_keys=['rgb_head', 'rgb_wrist', 'robot_state', 'text_context'] | action_horizon=16 | action_dim=8 +[2026-05-26 01:09:00,890] INFO Loaded MolmoSpaces policy | checkpoint=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt | target=psi_policy.policy.psi_policy.PsiPolicy | device=cuda:0 | action_chunk_size=8 +[05/26 01:09:03 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:13:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 3665 episode 0 object objateacup_027f9a512d2e49a582290e8a47ae68ed_1_0_2 completed with success=False +[05/26 01:13:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3665: 1 episodes +[05/26 01:13:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:13:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:13:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_3665 +[05/26 01:13:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3665 in 4.79s (batch: 4.61s, save: 0.18s) +[05/26 01:13:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3665 +[05/26 01:13:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3665: 0/1 successful episodes +[05/26 01:13:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3712 (index 1/42) +[05/26 01:13:31 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 3712 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 01:13:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/26 [00:00 does not support tracking retries. +[05/26 01:16:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:23:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 3712 episode 0 object objadish_acc681f1ed5a4ddcaafd7fa56d83ba6d_1_0_6 completed with success=False +[05/26 01:23:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/26 [00:00 does not support tracking retries. +[2026-05-26 01:25:04,916] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/huggingface_hub/file_download.py:945: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`. + warnings.warn( +[05/26 01:25:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:27:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 3712 episode 1 object objapuzzlepiece_e7fe38d96d064df9bafb114760ffe2ad_1_0_6 completed with success=False +[05/26 01:27:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3712: 2 episodes +[05/26 01:27:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:28:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:28:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:28:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:28:02 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_3712 +[05/26 01:28:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3712 in 5.26s (batch: 5.08s, save: 0.18s) +[05/26 01:28:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3712 +[05/26 01:28:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3712: 0/2 successful episodes +[05/26 01:28:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3723 (index 2/42) +[05/26 01:28:03 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3723 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 01:28:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +[05/26 01:33:25 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativebottle_7e790577849a414da6e718af2dc40bc1_1_0_6 in scene +[05/26 01:33:25 Worker 0 WARNING object_manager.py:1238] Could not find object objalicenseplate_de125bed7cf34a688c3b350458528c29_1_0_6 in scene +[2026-05-26 01:35:07,728] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 01:36:16 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:40:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 3723 episode 0 object objastraightrazor_a595190ce57a41cda01ff84d5c9eeb06_1_0_7 completed with success=False +[05/26 01:41:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3723: 1 episodes +[05/26 01:41:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:41:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:41:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_3723 +[05/26 01:41:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3723 in 3.23s (batch: 3.13s, save: 0.10s) +[05/26 01:41:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3723 +[05/26 01:41:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3723: 0/1 successful episodes +[05/26 01:41:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3772 (index 3/42) +[05/26 01:41:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3772 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 01:41:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/39 [00:00 does not support tracking retries. +[2026-05-26 01:42:56,678] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 01:46:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 3772 episode 0 object objahandgrenade_beaf33bc1c6d452697a3773a171a1103_1_0_2 completed with success=False +[05/26 01:46:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3772: 1 episodes +[05/26 01:46:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:46:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:46:15 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_3772 +[05/26 01:46:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3772 in 2.47s (batch: 2.38s, save: 0.09s) +[05/26 01:46:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3772 +[05/26 01:46:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3772: 0/1 successful episodes +[05/26 01:46:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3839 (index 4/42) +[05/26 01:46:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3839 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 01:46:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +[2026-05-26 01:56:37,719] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 01:57:42 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:04:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 3839 episode 0 object objamountingbracket_89c52ab7b8f149369c832713bad2203c_1_0_6 completed with success=False +[05/26 02:04:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3839: 1 episodes +[05/26 02:04:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:04:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:04:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_3839 +[05/26 02:04:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3839 in 3.65s (batch: 3.41s, save: 0.23s) +[05/26 02:04:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3839 +[05/26 02:04:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3839: 0/1 successful episodes +[05/26 02:04:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3890 (index 5/42) +[05/26 02:04:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3890 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 02:04:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/25 [00:00 does not support tracking retries. +[05/26 02:05:03 Worker 0 WARNING object_manager.py:1238] Could not find object objaankleboot_516145ceb6df4f3b81bd1aaf62f6a857_1_0_6 in scene +[05/26 02:05:03 Worker 0 WARNING object_manager.py:1238] Could not find object plate_f173a2971da306df672f184bdba65217_1_0_6 in scene +[2026-05-26 02:07:01,344] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:07:54 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:13:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 3890 episode 0 object objalever_5d821ac7148240c092c4face44c1d096_1_0_2 completed with success=False +[05/26 02:13:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3890: 1 episodes +[05/26 02:13:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:13:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:13:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_3890 +[05/26 02:13:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3890 in 3.56s (batch: 3.39s, save: 0.17s) +[05/26 02:13:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3890 +[05/26 02:13:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3890: 0/1 successful episodes +[05/26 02:13:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3939 (index 6/42) +[05/26 02:13:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3939 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 02:13:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/53 [00:00 does not support tracking retries. +[2026-05-26 02:15:56,205] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:16:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:19:53 Worker 0 INFO pipeline.py:1114] Worker 0 house 3939 episode 0 object objaclothesiron_33751730969346df8aa289d31228f3fb_1_0_2 completed with success=False +[05/26 02:19:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3939: 1 episodes +[05/26 02:19:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:20:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:20:00 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_3939 +[05/26 02:20:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3939 in 2.92s (batch: 2.71s, save: 0.21s) +[05/26 02:20:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3939 +[05/26 02:20:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3939: 0/1 successful episodes +[05/26 02:20:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3969 (index 7/42) +[05/26 02:20:00 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3969 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 02:20:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/56 [00:00 does not support tracking retries. +[2026-05-26 02:22:16,987] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:22:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:30:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 3969 episode 0 object objariflescope_78fdc6141bcc4bd483f1c4842ab654b3_1_0_7 completed with success=False +[05/26 02:30:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3969: 1 episodes +[05/26 02:30:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:30:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:30:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_3969 +[05/26 02:30:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3969 in 2.80s (batch: 2.69s, save: 0.12s) +[05/26 02:30:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3969 +[05/26 02:30:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3969: 0/1 successful episodes +[05/26 02:30:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4008 (index 8/42) +[05/26 02:30:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4008 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 02:30:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +[2026-05-26 02:32:14,698] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:36:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 4008 episode 0 object objabirdfigurine_2696c895e65a4343871e59d9fbaf121d_1_0_7 completed with success=False +[05/26 02:36:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4008: 1 episodes +[05/26 02:36:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:36:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:36:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4008 +[05/26 02:36:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4008 in 3.23s (batch: 3.07s, save: 0.16s) +[05/26 02:36:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4008 +[05/26 02:36:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4008: 0/1 successful episodes +[05/26 02:36:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4043 (index 9/42) +[05/26 02:36:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4043 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 02:36:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +[2026-05-26 02:39:02,493] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:40:12 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:48:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 4043 episode 0 object objaammunition_ac0cb85fdde046fc96e11a80a224fe3f_1_0_2 completed with success=False +[05/26 02:49:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4043: 1 episodes +[05/26 02:49:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:49:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:49:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4043 +[05/26 02:49:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4043 in 3.69s (batch: 3.47s, save: 0.21s) +[05/26 02:49:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4043 +[05/26 02:49:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4043: 0/1 successful episodes +[05/26 02:49:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4130 (index 10/42) +[05/26 02:49:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4130 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 02:49:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[2026-05-26 02:51:07,403] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:01:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 4130 episode 0 object objapendant_b12437d577704653ae875d817cb89804_1_0_6 completed with success=False +[05/26 03:01:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4130: 1 episodes +[05/26 03:01:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:01:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:01:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4130 +[05/26 03:01:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4130 in 4.79s (batch: 4.47s, save: 0.32s) +[05/26 03:01:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4130 +[05/26 03:01:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4130: 0/1 successful episodes +[05/26 03:01:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4169 (index 11/42) +[05/26 03:01:35 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4169 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 03:01:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/39 [00:00 does not support tracking retries. +[05/26 03:01:57 Worker 0 WARNING object_manager.py:1238] Could not find object objadispenser_dae48a392c5a4f3aa00235e664ee7d4d_1_0_5 in scene +[05/26 03:01:57 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_6f646752c976a94a62a6979581d2556d_1_0_5 in scene +[2026-05-26 03:04:07,804] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:05:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:11:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 4169 episode 0 object objatelegraphkey_f63e60ed88ca405790c0c5aef3e03dfc_2_0_9 completed with success=False +[05/26 03:11:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4169: 1 episodes +[05/26 03:11:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:12:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:12:03 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4169 +[05/26 03:12:03 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4169 in 3.91s (batch: 3.68s, save: 0.23s) +[05/26 03:12:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4169 +[05/26 03:12:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4169: 0/1 successful episodes +[05/26 03:12:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4174 (index 12/42) +[05/26 03:12:04 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4174 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 03:12:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +[05/26 03:12:08 Worker 0 WARNING object_manager.py:1238] Could not find object objawarningsign_e65735f7d963464abc7e0c3690578b06_1_0_2 in scene +[05/26 03:12:08 Worker 0 WARNING object_manager.py:1238] Could not find object vase_c8834aef9cc9a4598baadc1d2562b549_1_0_6 in scene +[2026-05-26 03:14:11,046] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:18:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 4174 episode 0 object objacheese_150156b49a984e5d9c0e672894da5a3e_1_0_2 completed with success=False +[05/26 03:18:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +[05/26 03:18:30 Worker 0 WARNING object_manager.py:1238] Could not find object objawarningsign_e65735f7d963464abc7e0c3690578b06_1_0_2 in scene +[05/26 03:18:30 Worker 0 WARNING object_manager.py:1238] Could not find object vase_c8834aef9cc9a4598baadc1d2562b549_1_0_6 in scene +[2026-05-26 03:20:31,456] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:23:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 4174 episode 1 object objarubbermallet_2de2cbb69ad44bc3ae2e01eacce9f174_1_0_2 completed with success=False +[05/26 03:23:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4174: 2 episodes +[05/26 03:23:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:23:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:23:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:23:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:23:45 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4174 +[05/26 03:23:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4174 in 5.09s (batch: 4.90s, save: 0.18s) +[05/26 03:23:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4174 +[05/26 03:23:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4174: 0/2 successful episodes +[05/26 03:23:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4258 (index 13/42) +[05/26 03:23:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4258 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 03:23:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +[2026-05-26 03:25:22,690] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:26:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:30:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 4258 episode 0 object objadecorativeinsect_3d87721214d44cc6986677a844c80499_1_0_4 completed with success=False +[05/26 03:30:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4258: 1 episodes +[05/26 03:30:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:30:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:30:38 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4258 +[05/26 03:30:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4258 in 3.94s (batch: 3.77s, save: 0.17s) +[05/26 03:30:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4258 +[05/26 03:30:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4258: 0/1 successful episodes +[05/26 03:30:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4329 (index 14/42) +[05/26 03:30:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4329 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 03:30:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/26 03:30:52 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_9 in scene +[2026-05-26 03:32:58,254] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:34:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:43:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 4329 episode 0 object objaswissarmyknife_9a1047f51ca5495f9ddfe3c024a1d8cd_1_0_2 completed with success=False +[05/26 03:43:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4329: 1 episodes +[05/26 03:43:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:43:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:43:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4329 +[05/26 03:43:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4329 in 3.32s (batch: 3.11s, save: 0.22s) +[05/26 03:43:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4329 +[05/26 03:43:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4329: 0/1 successful episodes +[05/26 03:43:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4370 (index 15/42) +[05/26 03:43:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4370 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 03:43:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[2026-05-26 03:44:28,491] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:44:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:50:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 4370 episode 0 object objashackle_d956a23797094d87aa85c1a139c15d68_1_0_7 completed with success=False +[05/26 03:50:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4370: 1 episodes +[05/26 03:50:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:50:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:50:24 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4370 +[05/26 03:50:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4370 in 3.68s (batch: 3.50s, save: 0.18s) +[05/26 03:50:25 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4370 +[05/26 03:50:25 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4370: 0/1 successful episodes +[05/26 03:50:25 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4404 (index 16/42) +[05/26 03:50:25 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4404 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 03:50:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[2026-05-26 03:52:58,085] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:53:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:58:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 4404 episode 0 object objachocolatebunny_3fd78d69b770429a8a680caaa65e57e8_1_0_2 completed with success=False +[05/26 03:58:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4404: 1 episodes +[05/26 03:58:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:58:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:58:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4404 +[05/26 03:58:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4404 in 3.32s (batch: 3.16s, save: 0.16s) +[05/26 03:58:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4404 +[05/26 03:58:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4404: 0/1 successful episodes +[05/26 03:58:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4455 (index 17/42) +[05/26 03:58:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4455 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 03:58:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[05/26 03:58:45 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +[05/26 03:58:45 Worker 0 WARNING object_manager.py:1238] Could not find object objaaerosolcan_b6b64dc8ae6049dbba19ae2cef3575bb_1_0_7 in scene +[05/26 03:58:45 Worker 0 WARNING object_manager.py:1238] Could not find object objadispenser_dae48a392c5a4f3aa00235e664ee7d4d_1_0_7 in scene +[05/26 03:58:45 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativewallart_c7c03844ef594964985305267911cc9e_1_0_8 in scene +[05/26 03:58:45 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_834d386e080077accc22e6eae5471528_1_0_8 in scene +[2026-05-26 04:00:47,514] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:06:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 4455 episode 0 object objapettoy_c45af57d9a3c47a58da36db2a5d425dd_1_0_9 completed with success=False +[05/26 04:06:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4455: 1 episodes +[05/26 04:06:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:06:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:06:24 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4455 +[05/26 04:06:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4455 in 2.68s (batch: 2.55s, save: 0.13s) +[05/26 04:06:25 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4455 +[05/26 04:06:25 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4455: 0/1 successful episodes +[05/26 04:06:25 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4512 (index 18/42) +[05/26 04:06:25 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4512 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 04:06:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[2026-05-26 04:07:51,930] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:08:19 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:16:53 Worker 0 INFO pipeline.py:1114] Worker 0 house 4512 episode 0 object objadoorlock_3d56a40e1bae492b89072f71651d2d63_1_0_9 completed with success=False +[05/26 04:16:58 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4512: 1 episodes +[05/26 04:16:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:17:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:17:03 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4512 +[05/26 04:17:03 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4512 in 4.65s (batch: 4.30s, save: 0.35s) +[05/26 04:17:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4512 +[05/26 04:17:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4512: 0/1 successful episodes +[05/26 04:17:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4561 (index 19/42) +[05/26 04:17:04 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4561 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 04:17:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[05/26 04:17:25 Worker 0 WARNING object_manager.py:1238] Could not find object objaportrait_be723a42c56c437ba4247e2ca8c77bab_1_0_2 in scene +[05/26 04:17:25 Worker 0 WARNING object_manager.py:1238] Could not find object plate_d3f03fb737fec5e1ec6a907be81b1810_1_0_2 in scene +[2026-05-26 04:19:39,056] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:24:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 4561 episode 0 object objaexternalharddrive_65f3fd1fc6e440459aaade5c28028f53_1_0_3 completed with success=False +[05/26 04:24:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[05/26 04:24:44 Worker 0 WARNING object_manager.py:1238] Could not find object objaportrait_be723a42c56c437ba4247e2ca8c77bab_1_0_2 in scene +[05/26 04:24:44 Worker 0 WARNING object_manager.py:1238] Could not find object plate_d3f03fb737fec5e1ec6a907be81b1810_1_0_2 in scene +[2026-05-26 04:26:14,482] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:27:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:32:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 4561 episode 1 object objatooth_4ec84bfdbbec4663b9a730ef943e0768_1_0_3 completed with success=False +[05/26 04:32:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4561: 2 episodes +[05/26 04:32:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:32:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:32:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:32:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:32:12 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4561 +[05/26 04:32:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4561 in 6.84s (batch: 6.65s, save: 0.19s) +[05/26 04:32:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4561 +[05/26 04:32:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4561: 0/2 successful episodes +[05/26 04:32:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4572 (index 20/42) +[05/26 04:32:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4572 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 04:32:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +[05/26 04:32:23 Worker 0 WARNING object_manager.py:1238] Could not find object objacollar_5f329a75ab1a4890868ba37061ca3396_1_0_7 in scene +[2026-05-26 04:34:10,979] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:37:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 4572 episode 0 object objadecorativering_34fefad109df4779891b57164c5e2106_1_0_4 completed with success=False +[05/26 04:37:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4572: 1 episodes +[05/26 04:37:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:37:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:37:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4572 +[05/26 04:37:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4572 in 2.47s (batch: 2.38s, save: 0.10s) +[05/26 04:37:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4572 +[05/26 04:37:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4572: 0/1 successful episodes +[05/26 04:37:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4636 (index 21/42) +[05/26 04:37:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4636 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 04:37:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/53 [00:00 does not support tracking retries. +[05/26 04:37:36 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +[2026-05-26 04:38:42,591] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:39:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:41:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 4636 episode 0 object objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_4 completed with success=False +[05/26 04:41:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4636: 1 episodes +[05/26 04:41:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:41:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:41:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4636 +[05/26 04:41:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4636 in 2.67s (batch: 2.53s, save: 0.14s) +[05/26 04:41:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4636 +[05/26 04:41:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4636: 0/1 successful episodes +[05/26 04:41:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4691 (index 22/42) +[05/26 04:41:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4691 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 04:41:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +[2026-05-26 04:43:47,852] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:44:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:48:02 Worker 0 INFO pipeline.py:1114] Worker 0 house 4691 episode 0 object objabeveragecup_398d3a50f3e7446d980275f5b52c99a4_2_0_6 completed with success=False +[05/26 04:48:06 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4691: 1 episodes +[05/26 04:48:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:48:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:48:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4691 +[05/26 04:48:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4691 in 2.93s (batch: 2.80s, save: 0.13s) +[05/26 04:48:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4691 +[05/26 04:48:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4691: 0/1 successful episodes +[05/26 04:48:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4726 (index 23/42) +[05/26 04:48:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4726 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 04:48:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +[2026-05-26 04:50:05,462] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:50:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:54:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 4726 episode 0 object objametalrodassembly_88e1ab84b33e4a98b69c1c51c24d751a_1_0_3 completed with success=False +[05/26 04:54:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4726: 1 episodes +[05/26 04:54:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:54:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:54:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4726 +[05/26 04:54:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4726 in 2.81s (batch: 2.68s, save: 0.13s) +[05/26 04:54:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4726 +[05/26 04:54:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4726: 0/1 successful episodes +[05/26 04:54:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4751 (index 24/42) +[05/26 04:54:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4751 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 04:54:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/18 [00:00 does not support tracking retries. +[05/26 04:54:19 Worker 0 WARNING object_manager.py:1238] Could not find object statue_d0357892bc2a737e4da2f5a294c60c5e_1_0_6 in scene +[05/26 04:54:19 Worker 0 WARNING object_manager.py:1238] Could not find object bread_02590a72dc962788d308c804909b928a_1_0_6 in scene +[2026-05-26 04:55:34,200] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:00:02 Worker 0 INFO pipeline.py:1114] Worker 0 house 4751 episode 0 object objahandhelddevice_ed35515f702047138b8bf5c24ddf4dc8_1_0_7 completed with success=False +[05/26 05:00:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4751: 1 episodes +[05/26 05:00:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:00:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:00:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4751 +[05/26 05:00:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4751 in 3.71s (batch: 3.56s, save: 0.15s) +[05/26 05:00:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4751 +[05/26 05:00:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4751: 0/1 successful episodes +[05/26 05:00:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4798 (index 25/42) +[05/26 05:00:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4798 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 05:00:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +[05/26 05:00:21 Worker 0 WARNING object_manager.py:1238] Could not find object pillow_fb2444b26d283b973886df173510fd4c_1_0_2 in scene +[05/26 05:00:21 Worker 0 WARNING object_manager.py:1238] Could not find object laptop_ae30801e5e2a8cbd9f5009e82af4c8fd_1_0_2 in scene +[05/26 05:00:21 Worker 0 WARNING object_manager.py:1238] Could not find object statue_e2da6cf9030ad270d01ac0fa5001917f_1_0_2 in scene +[2026-05-26 05:02:17,820] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:03:08 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:06:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 4798 episode 0 object objawoodenrod_bdf07f6c648b4d74af80ea7103ac384c_1_0_6 completed with success=False +[05/26 05:06:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4798: 1 episodes +[05/26 05:06:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:06:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:06:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4798 +[05/26 05:06:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4798 in 3.19s (batch: 3.07s, save: 0.13s) +[05/26 05:06:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4798 +[05/26 05:06:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4798: 0/1 successful episodes +[05/26 05:06:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4847 (index 26/42) +[05/26 05:06:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4847 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 05:06:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/53 [00:00 does not support tracking retries. +[2026-05-26 05:09:17,965] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:11:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:15:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 4847 episode 0 object candle_ef48126e155d4ed0804b46d4b3a42ca2_1_0_4 completed with success=False +[05/26 05:15:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4847: 1 episodes +[05/26 05:15:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:15:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:15:59 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4847 +[05/26 05:15:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4847 in 3.60s (batch: 3.33s, save: 0.27s) +[05/26 05:16:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4847 +[05/26 05:16:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4847: 0/1 successful episodes +[05/26 05:16:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4904 (index 27/42) +[05/26 05:16:00 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4904 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 05:16:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/7 [00:00 does not support tracking retries. +[05/26 05:16:03 Worker 0 WARNING object_manager.py:1238] Could not find object objawallet_45e061790f364b1da9ff876382adca02_1_0_2 in scene +[05/26 05:16:03 Worker 0 WARNING object_manager.py:1238] Could not find object apple_e4633a6eeab3bd9cfd60227d76a684e8_1_0_2 in scene +[2026-05-26 05:18:19,659] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:19:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:22:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 4904 episode 0 object objaminiaturetoriigate_4d32377790044e12b31f4363f1bab859_1_0_2 completed with success=False +[05/26 05:22:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4904: 1 episodes +[05/26 05:22:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:22:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:22:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4904 +[05/26 05:22:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4904 in 2.98s (batch: 2.84s, save: 0.13s) +[05/26 05:22:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4904 +[05/26 05:22:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4904: 0/1 successful episodes +[05/26 05:22:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4976 (index 28/42) +[05/26 05:22:55 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4976 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 05:22:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +[05/26 05:23:03 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_6 in scene +[2026-05-26 05:25:12,580] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:26:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:30:53 Worker 0 INFO pipeline.py:1114] Worker 0 house 4976 episode 0 object objametalplate_e75a595288164529bbcbc11cdfb7df15_1_0_2 completed with success=False +[05/26 05:30:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4976: 1 episodes +[05/26 05:30:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:31:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:31:00 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4976 +[05/26 05:31:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4976 in 2.94s (batch: 2.80s, save: 0.14s) +[05/26 05:31:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4976 +[05/26 05:31:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4976: 0/1 successful episodes +[05/26 05:31:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4978 (index 29/42) +[05/26 05:31:00 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4978 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 05:31:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +[2026-05-26 05:33:13,807] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:34:19 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:37:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 4978 episode 0 object objaspraypaintcan_0adc4e0dd1344d91a71a1597933db68e_1_0_2 completed with success=False +[05/26 05:37:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +[2026-05-26 05:39:02,887] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:39:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:43:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 4978 episode 1 object objaspraypaintcan_9e725e49c0074fc0a1a08cacc85ee898_1_0_2 completed with success=False +[05/26 05:43:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4978: 2 episodes +[05/26 05:43:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:43:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:43:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:43:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:43:37 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4978 +[05/26 05:43:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4978 in 8.35s (batch: 7.94s, save: 0.41s) +[05/26 05:43:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4978 +[05/26 05:43:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4978: 0/2 successful episodes +[05/26 05:43:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5013 (index 30/42) +[05/26 05:43:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5013 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 05:43:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[2026-05-26 05:46:05,206] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:47:12 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:50:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 5013 episode 0 object objagavel_baa1dde4878b41599636183f29692ac7_1_0_2 completed with success=False +[05/26 05:50:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5013: 1 episodes +[05/26 05:50:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:50:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:50:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_5013 +[05/26 05:50:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5013 in 3.57s (batch: 3.45s, save: 0.12s) +[05/26 05:50:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5013 +[05/26 05:50:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5013: 0/1 successful episodes +[05/26 05:50:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5096 (index 31/42) +[05/26 05:50:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5096 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 05:50:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +[05/26 05:51:16 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_5 in scene +[05/26 05:51:16 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_9 in scene +[2026-05-26 05:53:12,086] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:54:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:00:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 5096 episode 0 object objaocarina_46450ccd99c6486f8b25e94e1bc8646e_1_0_8 completed with success=False +[05/26 06:01:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5096: 1 episodes +[05/26 06:01:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:01:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:01:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_5096 +[05/26 06:01:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5096 in 2.71s (batch: 2.61s, save: 0.10s) +[05/26 06:01:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5096 +[05/26 06:01:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5096: 0/1 successful episodes +[05/26 06:01:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5160 (index 32/42) +[05/26 06:01:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5160 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 06:01:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[2026-05-26 06:02:17,231] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:02:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:06:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 5160 episode 0 object objasneaker_14ee7c51811d4661aeba588851bafd7c_1_0_5 completed with success=False +[05/26 06:06:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5160: 1 episodes +[05/26 06:06:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:06:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:06:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_5160 +[05/26 06:06:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5160 in 3.73s (batch: 3.59s, save: 0.13s) +[05/26 06:06:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5160 +[05/26 06:06:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5160: 0/1 successful episodes +[05/26 06:06:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5182 (index 33/42) +[05/26 06:06:17 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 5182 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 06:06:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/27 [00:00 does not support tracking retries. +[2026-05-26 06:08:52,768] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:14:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 5182 episode 0 object objaminiaturetower_0780a7e5369442c3967681084a046588_1_0_5 completed with success=False +[05/26 06:14:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/27 [00:00 does not support tracking retries. +[2026-05-26 06:16:41,193] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:18:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:22:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 5182 episode 1 object objamedallion_de9cffc6f2d740bf822965b56e65eb8d_1_0_7 completed with success=False +[05/26 06:22:35 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5182: 2 episodes +[05/26 06:22:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:22:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:22:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:22:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:22:42 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_5182 +[05/26 06:22:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5182 in 6.83s (batch: 6.55s, save: 0.28s) +[05/26 06:22:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5182 +[05/26 06:22:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5182: 0/2 successful episodes +[05/26 06:22:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5197 (index 34/42) +[05/26 06:22:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5197 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 06:22:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +[2026-05-26 06:24:31,874] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:25:08 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:27:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 5197 episode 0 object objabowtie_a3f9109d67fe429aa527428dcdac1c6e_1_0_6 completed with success=False +[05/26 06:27:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5197: 1 episodes +[05/26 06:27:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:27:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:27:58 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_5197 +[05/26 06:27:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5197 in 2.70s (batch: 2.60s, save: 0.10s) +[05/26 06:27:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5197 +[05/26 06:27:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5197: 0/1 successful episodes +[05/26 06:27:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5266 (index 35/42) +[05/26 06:27:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5266 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 06:27:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +[2026-05-26 06:29:57,622] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:30:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:33:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 5266 episode 0 object objadeskcalendar_836acbc9b70a457e8619491240f72bbb_1_0_6 completed with success=False +[05/26 06:33:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5266: 1 episodes +[05/26 06:33:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:33:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:33:24 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_5266 +[05/26 06:33:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5266 in 2.54s (batch: 2.44s, save: 0.10s) +[05/26 06:33:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5266 +[05/26 06:33:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5266: 0/1 successful episodes +[05/26 06:33:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5327 (index 36/42) +[05/26 06:33:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5327 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 06:33:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/25 [00:00 does not support tracking retries. +[2026-05-26 06:34:54,421] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:35:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:38:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 5327 episode 0 object objakey_c8d91352967841109fc5b30c604d90e0_1_0_4 completed with success=False +[05/26 06:38:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5327: 1 episodes +[05/26 06:38:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:38:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:38:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_5327 +[05/26 06:38:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5327 in 3.47s (batch: 3.30s, save: 0.18s) +[05/26 06:38:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5327 +[05/26 06:38:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5327: 0/1 successful episodes +[05/26 06:38:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5416 (index 37/42) +[05/26 06:38:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5416 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 06:38:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 does not support tracking retries. +[2026-05-26 06:40:37,618] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:45:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 5416 episode 0 object objahourglass_e278f37f71ac4e2e980c6ef53899c2d7_1_0_3 completed with success=False +[05/26 06:45:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5416: 1 episodes +[05/26 06:45:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:45:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:45:57 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_5416 +[05/26 06:45:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5416 in 2.44s (batch: 2.35s, save: 0.09s) +[05/26 06:45:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5416 +[05/26 06:45:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5416: 0/1 successful episodes +[05/26 06:45:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5453 (index 38/42) +[05/26 06:45:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5453 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 06:45:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +[05/26 06:46:04 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeplatform_fb3121509a5143ff852c6f8f2d59f37e_1_0_5 in scene +[05/26 06:46:04 Worker 0 WARNING object_manager.py:1238] Could not find object candle_1b82c5d62bcdb9c9e0fbc639fdc9e22a_1_0_5 in scene +[2026-05-26 06:47:06,336] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:47:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:49:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 5453 episode 0 object objacucumber_0aef5e1b2ef446d7a5663674e75d45c8_1_0_2 completed with success=False +[05/26 06:49:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5453: 1 episodes +[05/26 06:49:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:49:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:49:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_5453 +[05/26 06:49:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5453 in 2.51s (batch: 2.40s, save: 0.10s) +[05/26 06:49:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5453 +[05/26 06:49:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5453: 0/1 successful episodes +[05/26 06:49:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5483 (index 39/42) +[05/26 06:49:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5483 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 06:49:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/18 [00:00 does not support tracking retries. +[2026-05-26 06:51:00,804] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:53:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 5483 episode 0 object objamountingbracket_89c52ab7b8f149369c832713bad2203c_1_0_7 completed with success=False +[05/26 06:53:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5483: 1 episodes +[05/26 06:53:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:53:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:53:41 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_5483 +[05/26 06:53:41 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5483 in 2.46s (batch: 2.37s, save: 0.09s) +[05/26 06:53:42 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5483 +[05/26 06:53:42 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5483: 0/1 successful episodes +[05/26 06:53:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5521 (index 40/42) +[05/26 06:53:42 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5521 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 06:53:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/39 [00:00 does not support tracking retries. +[2026-05-26 06:55:04,850] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:55:44 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 07:00:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 5521 episode 0 object objasqueegee_7003b80d192b4515bab588a29bcd86d3_1_0_8 completed with success=False +[05/26 07:01:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5521: 1 episodes +[05/26 07:01:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 07:01:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 07:01:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_5521 +[05/26 07:01:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5521 in 2.41s (batch: 2.28s, save: 0.12s) +[05/26 07:01:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5521 +[05/26 07:01:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5521: 0/1 successful episodes +[05/26 07:01:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5559 (index 41/42) +[05/26 07:01:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5559 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 07:01:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[2026-05-26 07:02:32,891] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 07:02:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 07:06:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 5559 episode 0 object objawoodenstake_20e19d2fe4954b2382123e8bbc8df270_1_0_6 completed with success=False +[05/26 07:06:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5559: 1 episodes +[05/26 07:06:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 07:07:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 07:07:00 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_5559 +[05/26 07:07:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5559 in 2.36s (batch: 2.27s, save: 0.09s) +[05/26 07:07:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5559 +[05/26 07:07:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5559: 0/1 successful episodes +[05/26 07:07:00 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses +[05/26 07:07:01 INFO pipeline.py:1496] Completed 42 houses, skipped 0 houses +[05/26 07:07:01 INFO pipeline.py:1499] Success count: 0, Total count: 47 +[05/26 07:07:01 INFO pipeline.py:1500] Success rate: 0.00% +Combined 47 episodes from 42 files → /tmp/tmphqu8h10n.h5 + +Saved → /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/results.csv at-end: 0.0% | oracle: 0.0% of 47 episodes +[2026-05-26 07:07:05,599] INFO MolmoSpaces simulator eval finished: success=0/47 rate=0.0000 output=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval +[2026-05-26 07:07:05,599] INFO Benchmark CSV: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/results.csv + +Submission artifacts ready: + CSV : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/submission/results.csv + Bundle zip : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/submission_bundle.zip + Summary : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/submission/summary.json + Full eval output : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval + Repro command : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/run_command.sh diff --git a/pnp_v2/pnp_v2/shards/shard_07.launcher.log b/pnp_v2/pnp_v2/shards/shard_07.launcher.log new file mode 100644 index 0000000000000000000000000000000000000000..83d7c757e56c723e667d91ab67e86c57d1173de3 --- /dev/null +++ b/pnp_v2/pnp_v2/shards/shard_07.launcher.log @@ -0,0 +1,1655 @@ +================================================================================ +Official MolmoSpaces Submission Run +================================================================================ +Checkpoint : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt +Benchmark dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +Output root : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07 +Eval output dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval +Submission dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/submission +Conda env : molmospace +Policy name : latest +Policy device : cuda:0 +Text embedding device : cpu +Prompt cache dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan +Workers : 1 +Task horizon steps : 450 +Action chunk size : 8 +Obs camera : droid_shoulder_light_randomization +Obs wrist camera : wrist_camera_zed_mini +Camera names : droid_shoulder_light_randomization wrist_camera_zed_mini +Preview camera names : droid_shoulder_light_randomization +End on success : 1 +Visualization : 0 +Save raw videos : 0 +Save video sensors : __none__ +Success condition (CSV) : both + +Official runner : molmo_spaces.evaluation.run_evaluation() +CSV exporter : molmospaces/scripts/benchmarks/eval_to_csv.py + +Command +conda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament +================================================================================ +[2026-05-26 01:03:53,450] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath'] +[2026-05-26 01:03:53,543] INFO Selected MuJoCo backend: egl +[2026-05-26 01:03:53,567] INFO Using MolmoSpaces benchmark: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 (source=arg) +[2026-05-26 01:03:56,458] INFO No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +[nltk_data] Downloading package wordnet to /home/yuanpei/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /home/yuanpei/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +[2026-05-26 01:04:08,181] INFO ResourceManager (R2RemoteStorage('https://pub-3555e9bb2d304fab9c6c79819e48aa40.r2.dev')) using: + symlink_dir=/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets + cache_dir=/home/yuanpei/.cache/molmo-spaces-resources + force_install=True +/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py:129: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +[2026-05-26 01:04:35,632] INFO Requested MolmoSpaces simulator cameras: ['droid_shoulder_light_randomization', 'wrist_camera_zed_mini'] +[2026-05-26 01:04:35,634] INFO Using save_video_sensors=['__none__'] +[2026-05-26 01:04:39,386] INFO Resolved MolmoSpaces action semantics from checkpoint: source=pnp_next_to_v2 type=molmo_raw arm_action_key=joint_pos_rel gripper_action_key=joint_pos action_type=joint_pos_rel arm_command_mode=joint_rel_position +[2026-05-26 01:04:39,469] INFO Using explicit task_horizon override: 450 steps +[05/26 01:04:39 INFO pipeline.py:677] WandB logging disabled (environment variables not set) +[2026-05-26 01:04:39,520] INFO JsonEvalRunner initialized: 41 houses, 46 episodes from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 01:04:39 INFO pipeline.py:1279] Starting house-by-house rollout of 41 houses with 2 episodes each (82 total episodes) using 1 worker processes +[05/26 01:04:39 INFO pipeline.py:1286] Evaluation configuration: +[05/26 01:04:39 INFO pipeline.py:1287] {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['droid_shoulder_light_randomization', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 'wan_molmobot_franka', + 'obs_camera_name': 'droid_shoulder_light_randomization', + 'obs_image_key': 'rgb_head', + 'obs_state_key': 'robot_state', + 'obs_wrist_camera_name': 'wrist_camera_zed_mini', + 'obs_wrist_image_key': 'rgb_wrist', + 'policy_cls': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [3725, + 3774, + 3775, + 3840, + 3891, + 3944, + 3972, + 4013, + 4061, + 4132, + 4190, + 4223, + 4260, + 4341, + 4372, + 4406, + 4465, + 4532, + 4580, + 4613, + 4640, + 4692, + 4728, + 4764, + 4802, + 4856, + 4909, + 4980, + 4999, + 5019, + 5097, + 5161, + 5208, + 5281, + 5283, + 5340, + 5417, + 5454, + 5488, + 5535, + 5561], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} +[2026-05-26 01:04:39,531] INFO Saved experiment configuration to /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439 +[05/26 01:04:39 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler +[05/26 01:04:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/26 01:04:39 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler +[05/26 01:04:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3725 (index 0/41) +[05/26 01:04:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3725 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 01:04:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes + Checking objects/objaverse: 0%| | 0/25 [00:00 does not support tracking retries. +2026-05-26 01:06:05.683 | INFO | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0 +[2026-05-26 01:06:41,352] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k) +[2026-05-26 01:06:41,922] INFO [timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k] Safe alternative available for 'pytorch_model.bin' (as 'model.safetensors'). Loading weights using safetensors. +[2026-05-26 01:08:51,125] INFO Number of parameters in DiT: 1.821428e+07 +[2026-05-26 01:09:04,847] INFO Loaded generic psi-policy checkpoint | target=psi_policy.policy.psi_policy.PsiPolicy | obs_keys=['rgb_head', 'rgb_wrist', 'robot_state', 'text_context'] | action_horizon=16 | action_dim=8 +[2026-05-26 01:09:04,851] INFO Loaded MolmoSpaces policy | checkpoint=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt | target=psi_policy.policy.psi_policy.PsiPolicy | device=cuda:0 | action_chunk_size=8 +[05/26 01:09:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:17:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 3725 episode 0 object objapopsicle_ea06ce6c179a4676a1e9329f3b7ee127_2_0_6 completed with success=False +[05/26 01:17:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3725: 1 episodes +[05/26 01:17:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:17:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:17:51 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_3725 +[05/26 01:17:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3725 in 3.38s (batch: 3.18s, save: 0.20s) +[05/26 01:17:52 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3725 +[05/26 01:17:52 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3725: 0/1 successful episodes +[05/26 01:17:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3774 (index 1/41) +[05/26 01:17:52 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3774 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 01:17:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/14 [00:00 does not support tracking retries. +[05/26 01:22:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:25:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 3774 episode 0 object objaicecreambar_50eb315890824abaaeb656e22be89710_1_0_2 completed with success=False +[05/26 01:25:04 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3774: 1 episodes +[05/26 01:25:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:25:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:25:06 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_3774 +[05/26 01:25:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3774 in 2.28s (batch: 2.19s, save: 0.09s) +[05/26 01:25:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3774 +[05/26 01:25:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3774: 0/1 successful episodes +[05/26 01:25:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3775 (index 2/41) +[05/26 01:25:06 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 3775 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 01:25:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/39 [00:00 does not support tracking retries. +[2026-05-26 01:35:11,252] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/huggingface_hub/file_download.py:945: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`. + warnings.warn( +[05/26 01:39:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 3775 episode 0 object objapaymentterminal_3e1e65fa70574e4b92cc37120ec03816_1_0_3 completed with success=False +[05/26 01:39:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/39 [00:00 does not support tracking retries. +[2026-05-26 01:42:58,779] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 01:46:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 3775 episode 1 object objamedallion_de9cffc6f2d740bf822965b56e65eb8d_1_0_4 completed with success=False +[05/26 01:46:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3775: 2 episodes +[05/26 01:46:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:46:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:46:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:46:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:46:33 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_3775 +[05/26 01:46:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3775 in 4.39s (batch: 4.22s, save: 0.17s) +[05/26 01:46:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3775 +[05/26 01:46:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3775: 0/2 successful episodes +[05/26 01:46:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3840 (index 3/41) +[05/26 01:46:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3840 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 01:46:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +[05/26 01:55:32 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_98ad81f9aaa74fe0c8d1de65acb880ca_1_0_3 in scene +[2026-05-26 01:56:36,677] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 01:57:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:00:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 3840 episode 0 object objaathleticshoe_66486970c49f498aa3d3a17f771c63bf_1_0_3 completed with success=False +[05/26 02:00:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3840: 1 episodes +[05/26 02:00:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:00:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:00:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_3840 +[05/26 02:00:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3840 in 3.22s (batch: 2.94s, save: 0.28s) +[05/26 02:00:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3840 +[05/26 02:00:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3840: 0/1 successful episodes +[05/26 02:00:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3891 (index 4/41) +[05/26 02:00:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3891 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 02:00:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +[05/26 02:00:29 Worker 0 WARNING object_manager.py:1238] Could not find object objaband_eca69b5af4c44fb0bf968b343efad030_1_0_5 in scene +[05/26 02:00:29 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_5 in scene +[05/26 02:00:29 Worker 0 WARNING object_manager.py:1238] Could not find object objadentures_46145e0221e94a3185b215c07d0f4340_1_0_5 in scene +[2026-05-26 02:02:48,772] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:04:10 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:09:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 3891 episode 0 object objafoodpacket_58ff4a1e3fb24fbca6989f9b6d1fe23e_2_0_2 completed with success=False +[05/26 02:09:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3891: 1 episodes +[05/26 02:09:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:09:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:09:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_3891 +[05/26 02:09:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3891 in 4.09s (batch: 3.82s, save: 0.27s) +[05/26 02:09:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3891 +[05/26 02:09:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3891: 0/1 successful episodes +[05/26 02:09:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3944 (index 5/41) +[05/26 02:09:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3944 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 02:09:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/56 [00:00 does not support tracking retries. +[05/26 02:10:08 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene +[2026-05-26 02:12:08,558] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:13:14 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:22:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 3944 episode 0 object objasmokegrenade_d8e89a86fa0c4630b3705222e17cd901_1_0_4 completed with success=False +[05/26 02:22:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3944: 1 episodes +[05/26 02:22:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:22:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:22:15 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_3944 +[05/26 02:22:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3944 in 3.43s (batch: 3.27s, save: 0.16s) +[05/26 02:22:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3944 +[05/26 02:22:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3944: 0/1 successful episodes +[05/26 02:22:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3972 (index 6/41) +[05/26 02:22:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3972 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 02:22:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +[05/26 02:22:26 Worker 0 WARNING object_manager.py:1238] Could not find object vase_d568e4c5c2948c69c05d527517276b06_1_0_2 in scene +[2026-05-26 02:24:24,101] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:31:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 3972 episode 0 object objaelectronicdisplaymodule_37d29ad966cc4f58b81754088e774bd7_1_0_2 completed with success=False +[05/26 02:31:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3972: 1 episodes +[05/26 02:31:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:31:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:31:12 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_3972 +[05/26 02:31:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3972 in 2.93s (batch: 2.82s, save: 0.12s) +[05/26 02:31:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3972 +[05/26 02:31:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3972: 0/1 successful episodes +[05/26 02:31:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4013 (index 7/41) +[05/26 02:31:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4013 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 02:31:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[05/26 02:31:31 Worker 0 WARNING object_manager.py:1238] Could not find object objasportsshoe_6b4506025d2e4c38bf943c377e53a82b_1_0_5 in scene +[05/26 02:31:31 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_8c6e5265f19b49709119c2628c2bdf3f_1_0_5 in scene +[05/26 02:31:31 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeemblem_fc3742fa990943c29401e60aaf476c81_2_0_7 in scene +[2026-05-26 02:32:42,131] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:39:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 4013 episode 0 object objadecorativefixture_03b5e7bf16d14cae92c993152044446f_1_0_6 completed with success=False +[05/26 02:39:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4013: 1 episodes +[05/26 02:39:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:39:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:39:12 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4013 +[05/26 02:39:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4013 in 3.28s (batch: 3.14s, save: 0.14s) +[05/26 02:39:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4013 +[05/26 02:39:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4013: 0/1 successful episodes +[05/26 02:39:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4061 (index 8/41) +[05/26 02:39:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4061 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 02:39:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/4 [00:00 does not support tracking retries. +[2026-05-26 02:41:38,791] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:43:33 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:47:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 4061 episode 0 object objadecorativeblades_49da7278b073450686dec40d5d61f8ef_1_0_2 completed with success=False +[05/26 02:47:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4061: 1 episodes +[05/26 02:47:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:47:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:47:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4061 +[05/26 02:47:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4061 in 4.28s (batch: 4.07s, save: 0.21s) +[05/26 02:47:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4061 +[05/26 02:47:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4061: 0/1 successful episodes +[05/26 02:47:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4132 (index 9/41) +[05/26 02:47:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4132 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 02:47:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +[2026-05-26 02:49:22,473] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:50:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:54:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 4132 episode 0 object objadecorativedish_6a575ec757024924b9844d85f3afaa1e_1_0_8 completed with success=False +[05/26 02:54:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4132: 1 episodes +[05/26 02:54:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:55:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:55:03 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4132 +[05/26 02:55:03 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4132 in 4.17s (batch: 3.94s, save: 0.23s) +[05/26 02:55:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4132 +[05/26 02:55:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4132: 0/1 successful episodes +[05/26 02:55:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4190 (index 10/41) +[05/26 02:55:04 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4190 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 02:55:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +[2026-05-26 02:57:53,434] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:59:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:07:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 4190 episode 0 object objadecorativebutterfly_a6073d8c8b454928bad247c294a57416_1_0_2 completed with success=False +[05/26 03:07:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4190: 1 episodes +[05/26 03:07:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:07:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:07:41 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4190 +[05/26 03:07:41 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4190 in 3.99s (batch: 3.82s, save: 0.17s) +[05/26 03:07:42 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4190 +[05/26 03:07:42 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4190: 0/1 successful episodes +[05/26 03:07:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4223 (index 11/41) +[05/26 03:07:42 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4223 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 03:07:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +[05/26 03:07:50 Worker 0 WARNING object_manager.py:1238] Could not find object candle_fe12fa900f50b1f2dcab659cebcf492b_1_0_5 in scene +[2026-05-26 03:10:15,616] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:16:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 4223 episode 0 object objadrillbit_977b1e30dac346c09e5ba28fe3b19fd3_1_0_6 completed with success=False +[05/26 03:16:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +[05/26 03:16:07 Worker 0 WARNING object_manager.py:1238] Could not find object candle_fe12fa900f50b1f2dcab659cebcf492b_1_0_5 in scene +[2026-05-26 03:17:56,314] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:19:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:23:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 4223 episode 1 object objaelectricalsocket_7c05b98d60884e12aa05ae00feda5bbe_1_0_6 completed with success=False +[05/26 03:23:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4223: 2 episodes +[05/26 03:23:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:23:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:23:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:23:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:23:12 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4223 +[05/26 03:23:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4223 in 4.83s (batch: 4.65s, save: 0.18s) +[05/26 03:23:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4223 +[05/26 03:23:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4223: 0/2 successful episodes +[05/26 03:23:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4260 (index 12/41) +[05/26 03:23:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4260 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 03:23:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +[05/26 03:23:27 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativewallsign_972753f8916f4faeb31cd3beabc0f873_2_0_2 in scene +[05/26 03:23:27 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativestrip_cd800e23d29843c3a02601b0ea022c4d_1_0_2 in scene +[2026-05-26 03:24:37,718] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:25:14 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:30:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 4260 episode 0 object objastopwatch_ab795908c0874284a01556b71ac8f34a_1_0_5 completed with success=False +[05/26 03:30:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4260: 1 episodes +[05/26 03:30:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:30:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:30:29 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4260 +[05/26 03:30:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4260 in 3.85s (batch: 3.68s, save: 0.17s) +[05/26 03:30:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4260 +[05/26 03:30:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4260: 0/1 successful episodes +[05/26 03:30:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4341 (index 13/41) +[05/26 03:30:29 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4341 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 03:30:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/17 [00:00 does not support tracking retries. +[2026-05-26 03:32:42,909] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:34:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:38:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 4341 episode 0 object objapopsicle_ea06ce6c179a4676a1e9329f3b7ee127_2_0_6 completed with success=False +[05/26 03:38:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4341: 1 episodes +[05/26 03:38:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:38:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:38:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4341 +[05/26 03:38:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4341 in 4.84s (batch: 4.70s, save: 0.14s) +[05/26 03:38:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4341 +[05/26 03:38:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4341: 0/1 successful episodes +[05/26 03:38:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4372 (index 14/41) +[05/26 03:38:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4372 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 03:38:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/26 03:38:52 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativesymbol_901e291f621540ab85bf50d5b6fc25de_1_0_5 in scene +[05/26 03:38:52 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene +[2026-05-26 03:41:01,330] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:41:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:44:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 4372 episode 0 object apple_3076d24521ee5e895156b37b1b9fb130_1_0_8 completed with success=False +[05/26 03:44:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4372: 1 episodes +[05/26 03:44:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:45:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:45:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4372 +[05/26 03:45:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4372 in 2.76s (batch: 2.61s, save: 0.14s) +[05/26 03:45:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4372 +[05/26 03:45:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4372: 0/1 successful episodes +[05/26 03:45:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4406 (index 15/41) +[05/26 03:45:03 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4406 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 03:45:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[2026-05-26 03:46:37,849] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:47:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:53:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 4406 episode 0 object objaprintedcircuitboard_dd07a5351c854a02bb6def55164023dd_1_0_3 completed with success=False +[05/26 03:53:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4406: 1 episodes +[05/26 03:53:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:53:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:53:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4406 +[05/26 03:53:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4406 in 3.68s (batch: 3.50s, save: 0.19s) +[05/26 03:53:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4406 +[05/26 03:53:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4406: 0/1 successful episodes +[05/26 03:53:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4465 (index 16/41) +[05/26 03:53:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4465 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 03:53:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +[05/26 03:53:51 Worker 0 WARNING object_manager.py:1238] Could not find object objaclog_4622e88fd9264b37997671efeb73af85_1_0_5 in scene +[05/26 03:53:51 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativetile_7584f83361f546ed890ae9aa823df1cb_1_0_5 in scene +[05/26 03:53:51 Worker 0 WARNING object_manager.py:1238] Could not find object objacollar_5f329a75ab1a4890868ba37061ca3396_1_0_5 in scene +[2026-05-26 03:55:38,561] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:56:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:59:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 4465 episode 0 object objamedicinebox_062a5843f2214b5ebf9c90273f803e16_1_0_6 completed with success=False +[05/26 04:00:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4465: 1 episodes +[05/26 04:00:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:00:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:00:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4465 +[05/26 04:00:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4465 in 3.22s (batch: 3.05s, save: 0.18s) +[05/26 04:00:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4465 +[05/26 04:00:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4465: 0/1 successful episodes +[05/26 04:00:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4532 (index 17/41) +[05/26 04:00:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4532 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 04:00:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/9 [00:00 does not support tracking retries. +[2026-05-26 04:02:13,139] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:03:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:06:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 4532 episode 0 object objaartifact_787b8c3a105a484681d6f6258099cca5_1_0_2 completed with success=False +[05/26 04:06:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4532: 1 episodes +[05/26 04:06:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:06:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:06:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4532 +[05/26 04:06:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4532 in 2.78s (batch: 2.68s, save: 0.10s) +[05/26 04:06:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4532 +[05/26 04:06:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4532: 0/1 successful episodes +[05/26 04:06:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4580 (index 18/41) +[05/26 04:06:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4580 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 04:06:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +[05/26 04:06:56 Worker 0 WARNING object_manager.py:1238] Could not find object objareplicatooth_c7bf1c4c76f74da4bbc1620e1173e189_1_0_5 in scene +[05/26 04:06:56 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_c60254aae031ecd4e316a5add61459a4_1_0_5 in scene +[05/26 04:06:56 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_7 in scene +[05/26 04:06:56 Worker 0 WARNING object_manager.py:1238] Could not find object objavintagemobilephone_e1a072af323f4d358bad054195353b96_1_0_8 in scene +[05/26 04:06:56 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_116f2e48d98aa5352b25743c587e8255_1_0_8 in scene +[2026-05-26 04:08:16,003] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:08:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:17:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 4580 episode 0 object objafiredepartmentconnection_b4946020065141e5b994e0ca5ed23882_1_0_8 completed with success=False +[05/26 04:18:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4580: 1 episodes +[05/26 04:18:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:18:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:18:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4580 +[05/26 04:18:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4580 in 3.64s (batch: 3.48s, save: 0.16s) +[05/26 04:18:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4580 +[05/26 04:18:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4580: 0/1 successful episodes +[05/26 04:18:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4613 (index 19/41) +[05/26 04:18:06 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4613 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 04:18:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[2026-05-26 04:20:43,442] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:25:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 4613 episode 0 object objacollar_5f329a75ab1a4890868ba37061ca3396_1_0_7 completed with success=False +[05/26 04:25:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[2026-05-26 04:27:12,394] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:28:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:32:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 4613 episode 1 object objamarker_be34b3e0b8e44511b6c3bccb76a472d2_1_0_5 completed with success=False +[05/26 04:32:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4613: 2 episodes +[05/26 04:32:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:32:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:32:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:32:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:32:26 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4613 +[05/26 04:32:26 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4613 in 6.48s (batch: 6.19s, save: 0.29s) +[05/26 04:32:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4613 +[05/26 04:32:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4613: 0/2 successful episodes +[05/26 04:32:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4640 (index 20/41) +[05/26 04:32:27 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4640 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 04:32:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/7 [00:00 does not support tracking retries. +[2026-05-26 04:34:17,334] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:34:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:36:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 4640 episode 0 object objagrenade_2bf43075c62749e28e1a8c2f0d766c67_1_0_2 completed with success=False +[05/26 04:36:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4640: 1 episodes +[05/26 04:36:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:36:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:36:45 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4640 +[05/26 04:36:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4640 in 3.21s (batch: 3.09s, save: 0.12s) +[05/26 04:36:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4640 +[05/26 04:36:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4640: 0/1 successful episodes +[05/26 04:36:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4692 (index 21/41) +[05/26 04:36:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4692 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 04:36:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +[2026-05-26 04:38:02,716] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:38:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:40:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 4692 episode 0 object soapdispenser_e2340594c344cded466620d23f003e8a_1_0_2 completed with success=False +[05/26 04:40:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4692: 1 episodes +[05/26 04:40:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:40:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:40:25 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4692 +[05/26 04:40:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4692 in 2.71s (batch: 2.61s, save: 0.09s) +[05/26 04:40:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4692 +[05/26 04:40:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4692: 0/1 successful episodes +[05/26 04:40:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4728 (index 22/41) +[05/26 04:40:26 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4728 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 04:40:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/60 [00:00 does not support tracking retries. +[05/26 04:40:46 Worker 0 WARNING object_manager.py:1238] Could not find object objamultitool_8e4f71b51ecc41488c0bd05491217797_1_0_2 in scene +[05/26 04:40:46 Worker 0 WARNING object_manager.py:1238] Could not find object Irishpotato_19394b332cf16c9d218c9f434ecf9c48_1_0_2 in scene +[05/26 04:40:46 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +[2026-05-26 04:42:19,407] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:49:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 4728 episode 0 object objavintageiron_187871edbc5e40d8a75a4b654ce32146_1_0_2 completed with success=False +[05/26 04:49:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4728: 1 episodes +[05/26 04:49:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:49:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:49:47 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4728 +[05/26 04:49:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4728 in 2.81s (batch: 2.68s, save: 0.13s) +[05/26 04:49:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4728 +[05/26 04:49:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4728: 0/1 successful episodes +[05/26 04:49:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4764 (index 23/41) +[05/26 04:49:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4764 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 04:49:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/6 [00:00 does not support tracking retries. +[2026-05-26 04:51:35,357] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:54:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 4764 episode 0 object objasculptingtool_f7f0c3b473e049aa84d9251793113418_1_0_2 completed with success=False +[05/26 04:55:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4764: 1 episodes +[05/26 04:55:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:55:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:55:03 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4764 +[05/26 04:55:03 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4764 in 2.19s (batch: 2.10s, save: 0.09s) +[05/26 04:55:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4764 +[05/26 04:55:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4764: 0/1 successful episodes +[05/26 04:55:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4802 (index 24/41) +[05/26 04:55:04 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4802 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 04:55:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/24 [00:00 does not support tracking retries. +[2026-05-26 04:56:42,328] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:57:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:01:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 4802 episode 0 object objaceramicbirdfigure_182ce75662ca4a98bc00e54a43dfef4e_1_0_6 completed with success=False +[05/26 05:02:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4802: 1 episodes +[05/26 05:02:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:02:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:02:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4802 +[05/26 05:02:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4802 in 2.67s (batch: 2.51s, save: 0.16s) +[05/26 05:02:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4802 +[05/26 05:02:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4802: 0/1 successful episodes +[05/26 05:02:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4856 (index 25/41) +[05/26 05:02:04 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4856 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 05:02:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +[2026-05-26 05:04:02,608] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:05:03 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:14:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 4856 episode 0 object objadecorativearrow_bdc5664a76f74806b5ae78dd7793fbef_1_0_6 completed with success=False +[05/26 05:14:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4856: 1 episodes +[05/26 05:14:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:14:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:14:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4856 +[05/26 05:14:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4856 in 4.01s (batch: 3.80s, save: 0.21s) +[05/26 05:14:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4856 +[05/26 05:14:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4856: 0/1 successful episodes +[05/26 05:14:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4909 (index 26/41) +[05/26 05:14:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4909 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 05:14:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +[2026-05-26 05:16:40,931] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:17:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:21:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 4909 episode 0 object objapopsicle_d6caf34a19354df890e60be6786de20c_1_0_8 completed with success=False +[05/26 05:21:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4909: 1 episodes +[05/26 05:21:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:21:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:21:26 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4909 +[05/26 05:21:26 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4909 in 2.65s (batch: 2.52s, save: 0.13s) +[05/26 05:21:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4909 +[05/26 05:21:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4909: 0/1 successful episodes +[05/26 05:21:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4980 (index 27/41) +[05/26 05:21:26 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4980 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 05:21:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[2026-05-26 05:23:12,592] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:24:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:30:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 4980 episode 0 object objacard_ed4f37ab0ac84610bace2bbecabcef4c_1_0_2 completed with success=False +[05/26 05:30:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4980: 1 episodes +[05/26 05:30:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:30:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:30:24 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4980 +[05/26 05:30:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4980 in 3.34s (batch: 3.21s, save: 0.13s) +[05/26 05:30:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4980 +[05/26 05:30:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4980: 0/1 successful episodes +[05/26 05:30:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4999 (index 28/41) +[05/26 05:30:24 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4999 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 05:30:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/26 05:30:44 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativepanel_a17676f45b3d483c9dc1910a2eb17269_1_0_8 in scene +[05/26 05:30:44 Worker 0 WARNING object_manager.py:1238] Could not find object objadressshoe_08158fa3333a4b288bd2746a6ba6f9e5_1_0_9 in scene +[05/26 05:30:44 Worker 0 WARNING object_manager.py:1238] Could not find object objamarbleslab_7d540d7b25af4e41a58eaeb5037f88a9_1_0_9 in scene +[2026-05-26 05:32:48,163] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:38:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 4999 episode 0 object objahandbell_2ad2c9631a83455c9ec767a404d018df_1_0_3 completed with success=False +[05/26 05:38:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/26 05:38:17 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativepanel_a17676f45b3d483c9dc1910a2eb17269_1_0_8 in scene +[05/26 05:38:17 Worker 0 WARNING object_manager.py:1238] Could not find object objadressshoe_08158fa3333a4b288bd2746a6ba6f9e5_1_0_9 in scene +[05/26 05:38:17 Worker 0 WARNING object_manager.py:1238] Could not find object objamarbleslab_7d540d7b25af4e41a58eaeb5037f88a9_1_0_9 in scene +[2026-05-26 05:39:49,112] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:45:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 4999 episode 1 object objaadjustablewrench_ae5c3481f14d4683a319667717d65352_1_0_3 completed with success=False +[05/26 05:45:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4999: 2 episodes +[05/26 05:45:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:45:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:45:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:45:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:45:19 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4999 +[05/26 05:45:19 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4999 in 6.57s (batch: 6.32s, save: 0.24s) +[05/26 05:45:20 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4999 +[05/26 05:45:20 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4999: 0/2 successful episodes +[05/26 05:45:20 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5019 (index 29/41) +[05/26 05:45:20 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5019 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 05:45:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/32 [00:00 does not support tracking retries. +[2026-05-26 05:47:45,969] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:52:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 5019 episode 0 object objatoygun_b7faa9ff7e214e678e7e5523afdd6356_1_0_4 completed with success=False +[05/26 05:52:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5019: 1 episodes +[05/26 05:52:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:52:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:52:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5019 +[05/26 05:52:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5019 in 3.20s (batch: 3.05s, save: 0.14s) +[05/26 05:52:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5019 +[05/26 05:52:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5019: 0/1 successful episodes +[05/26 05:52:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5097 (index 30/41) +[05/26 05:52:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5097 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 05:52:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/8 [00:00 does not support tracking retries. +[2026-05-26 05:54:51,507] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:56:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:58:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 5097 episode 0 object objafoodpackage_b33ef62be6564684ac8ba70c41cccc07_1_0_2 completed with success=False +[05/26 05:58:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5097: 1 episodes +[05/26 05:58:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:58:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:58:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5097 +[05/26 05:58:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5097 in 2.37s (batch: 2.27s, save: 0.10s) +[05/26 05:58:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5097 +[05/26 05:58:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5097: 0/1 successful episodes +[05/26 05:58:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5161 (index 31/41) +[05/26 05:58:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5161 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 05:58:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +[2026-05-26 06:00:37,091] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:01:04 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:03:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 5161 episode 0 object objaemergencyradio_875d6d844ced424bb9eaa5659ef888ac_1_0_6 completed with success=False +[05/26 06:03:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5161: 1 episodes +[05/26 06:03:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:03:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:03:15 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5161 +[05/26 06:03:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5161 in 2.23s (batch: 2.14s, save: 0.09s) +[05/26 06:03:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5161 +[05/26 06:03:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5161: 0/1 successful episodes +[05/26 06:03:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5208 (index 32/41) +[05/26 06:03:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5208 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 06:03:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/27 [00:00 does not support tracking retries. +[05/26 06:03:27 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +[2026-05-26 06:05:28,634] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:11:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 5208 episode 0 object objatelegraphkey_152bc6ed25b14945b6ff62a60f446334_1_0_6 completed with success=False +[05/26 06:11:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5208: 1 episodes +[05/26 06:11:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:11:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:11:45 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5208 +[05/26 06:11:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5208 in 3.54s (batch: 3.34s, save: 0.20s) +[05/26 06:11:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5208 +[05/26 06:11:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5208: 0/1 successful episodes +[05/26 06:11:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5281 (index 33/41) +[05/26 06:11:46 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 5281 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 06:11:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +[2026-05-26 06:14:02,361] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:17:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 5281 episode 0 object objaceramicmug_a194e0482994495983f6e46559a76600_1_0_2 completed with success=False +[05/26 06:18:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +[2026-05-26 06:20:23,211] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:21:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:24:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 5281 episode 1 object objacostumefigure_0bd37fcf74214be0b2e0b8d1b4105aea_1_0_6 completed with success=False +[05/26 06:24:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5281: 2 episodes +[05/26 06:24:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:24:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:24:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:24:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:24:28 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5281 +[05/26 06:24:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5281 in 5.14s (batch: 4.90s, save: 0.24s) +[05/26 06:24:28 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5281 +[05/26 06:24:28 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5281: 0/2 successful episodes +[05/26 06:24:28 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5283 (index 34/41) +[05/26 06:24:28 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5283 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 06:24:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +[2026-05-26 06:25:54,437] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:26:13 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:29:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 5283 episode 0 object objajuicer_d5d126549f254e21bfc1200eac7a38f1_1_0_6 completed with success=False +[05/26 06:29:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5283: 1 episodes +[05/26 06:29:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:29:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:29:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5283 +[05/26 06:29:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5283 in 3.19s (batch: 3.04s, save: 0.15s) +[05/26 06:29:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5283 +[05/26 06:29:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5283: 0/1 successful episodes +[05/26 06:29:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5340 (index 35/41) +[05/26 06:29:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5340 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 06:29:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/53 [00:00 does not support tracking retries. +[05/26 06:29:58 Worker 0 WARNING object_manager.py:1238] Could not find object objabookmark_3a40ec29515c4ac0ba393b1830ad39fc_1_0_3 in scene +[2026-05-26 06:31:46,463] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:32:20 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:35:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 5340 episode 0 object objaocarina_dedd2ab83a78404085dd2168d511d9b0_1_0_4 completed with success=False +[05/26 06:35:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5340: 1 episodes +[05/26 06:35:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:35:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:35:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5340 +[05/26 06:35:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5340 in 2.34s (batch: 2.23s, save: 0.11s) +[05/26 06:35:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5340 +[05/26 06:35:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5340: 0/1 successful episodes +[05/26 06:35:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5417 (index 36/41) +[05/26 06:35:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5417 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 06:35:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/66 [00:00 does not support tracking retries. +[05/26 06:35:40 Worker 0 WARNING object_manager.py:1238] Could not find object objafoil_67f6e895f5f34572afc152008228d819_1_0_9 in scene +[05/26 06:35:40 Worker 0 WARNING object_manager.py:1238] Could not find object objadentures_46145e0221e94a3185b215c07d0f4340_1_0_9 in scene +[2026-05-26 06:37:30,466] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:44:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 5417 episode 0 object objaclimbingshoe_6612b1e3ee2b4e08952f6bf2b26bd75a_1_0_5 completed with success=False +[05/26 06:44:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5417: 1 episodes +[05/26 06:44:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:44:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:44:06 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5417 +[05/26 06:44:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5417 in 2.71s (batch: 2.62s, save: 0.09s) +[05/26 06:44:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5417 +[05/26 06:44:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5417: 0/1 successful episodes +[05/26 06:44:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5454 (index 37/41) +[05/26 06:44:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5454 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 06:44:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +[05/26 06:44:12 Worker 0 WARNING object_manager.py:1238] Could not find object objastopwatch_9bed8516b3264d0fa505609c1d19ccf0_1_0_5 in scene +[2026-05-26 06:45:29,016] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:45:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:48:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 5454 episode 0 object objasmartphone_a277fe5b13614659bab459f0df3adf8d_1_0_6 completed with success=False +[05/26 06:48:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5454: 1 episodes +[05/26 06:48:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:48:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:48:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5454 +[05/26 06:48:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5454 in 2.16s (batch: 2.07s, save: 0.09s) +[05/26 06:48:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5454 +[05/26 06:48:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5454: 0/1 successful episodes +[05/26 06:48:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5488 (index 38/41) +[05/26 06:48:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5488 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 06:48:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +[2026-05-26 06:49:41,466] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:53:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 5488 episode 0 object objatoyrifle_c085a04dae664cfe958c22fde3a18283_1_0_6 completed with success=False +[05/26 06:53:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5488: 1 episodes +[05/26 06:53:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:53:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:53:26 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5488 +[05/26 06:53:26 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5488 in 2.57s (batch: 2.48s, save: 0.09s) +[05/26 06:53:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5488 +[05/26 06:53:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5488: 0/1 successful episodes +[05/26 06:53:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5535 (index 39/41) +[05/26 06:53:27 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5535 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 06:53:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/14 [00:00 does not support tracking retries. +[2026-05-26 06:54:33,184] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:54:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 07:02:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 5535 episode 0 object objasandal_236d43744d2e42db923b0dbd7ee0e911_1_0_3 completed with success=False +[05/26 07:02:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5535: 1 episodes +[05/26 07:02:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 07:02:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 07:02:54 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5535 +[05/26 07:02:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5535 in 2.73s (batch: 2.64s, save: 0.09s) +[05/26 07:02:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5535 +[05/26 07:02:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5535: 0/1 successful episodes +[05/26 07:02:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5561 (index 40/41) +[05/26 07:02:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5561 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 07:02:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/60 [00:00 does not support tracking retries. +[05/26 07:03:06 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +[05/26 07:03:06 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_2_0_9 in scene +[05/26 07:03:06 Worker 0 WARNING object_manager.py:1238] Could not find object objanecklace_44783028272144c5abe0652d6be37b20_1_0_9 in scene +[05/26 07:03:06 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeband_26be4c662c434a66b9e15d66eb4130d8_1_0_9 in scene +[05/26 07:03:06 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_98ad81f9aaa74fe0c8d1de65acb880ca_1_0_9 in scene +[2026-05-26 07:04:28,527] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 07:07:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 5561 episode 0 object objaspraypaintcan_9e725e49c0074fc0a1a08cacc85ee898_2_0_8 completed with success=False +[05/26 07:07:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5561: 1 episodes +[05/26 07:07:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 07:07:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 07:07:27 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5561 +[05/26 07:07:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5561 in 2.51s (batch: 2.42s, save: 0.09s) +[05/26 07:07:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5561 +[05/26 07:07:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5561: 0/1 successful episodes +[05/26 07:07:27 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses +[05/26 07:07:28 INFO pipeline.py:1496] Completed 41 houses, skipped 0 houses +[05/26 07:07:28 INFO pipeline.py:1499] Success count: 0, Total count: 46 +[05/26 07:07:28 INFO pipeline.py:1500] Success rate: 0.00% +Combined 46 episodes from 41 files → /tmp/tmpt4yxz8_w.h5 + +Saved → /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/results.csv at-end: 0.0% | oracle: 0.0% of 46 episodes +[2026-05-26 07:07:32,552] INFO MolmoSpaces simulator eval finished: success=0/46 rate=0.0000 output=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval +[2026-05-26 07:07:32,552] INFO Benchmark CSV: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/results.csv + +Submission artifacts ready: + CSV : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/submission/results.csv + Bundle zip : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/submission_bundle.zip + Summary : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/submission/summary.json + Full eval output : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval + Repro command : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/run_command.sh diff --git a/pnp_v2/pnp_v2/shards/shard_07/run.log b/pnp_v2/pnp_v2/shards/shard_07/run.log new file mode 100644 index 0000000000000000000000000000000000000000..53feb034239991b90359f738984086437e15615e --- /dev/null +++ b/pnp_v2/pnp_v2/shards/shard_07/run.log @@ -0,0 +1,1616 @@ +[2026-05-26 01:03:53,450] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath'] +[2026-05-26 01:03:53,543] INFO Selected MuJoCo backend: egl +[2026-05-26 01:03:53,567] INFO Using MolmoSpaces benchmark: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 (source=arg) +[2026-05-26 01:03:56,458] INFO No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +[nltk_data] Downloading package wordnet to /home/yuanpei/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /home/yuanpei/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +[2026-05-26 01:04:08,181] INFO ResourceManager (R2RemoteStorage('https://pub-3555e9bb2d304fab9c6c79819e48aa40.r2.dev')) using: + symlink_dir=/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets + cache_dir=/home/yuanpei/.cache/molmo-spaces-resources + force_install=True +/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py:129: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +[2026-05-26 01:04:35,632] INFO Requested MolmoSpaces simulator cameras: ['droid_shoulder_light_randomization', 'wrist_camera_zed_mini'] +[2026-05-26 01:04:35,634] INFO Using save_video_sensors=['__none__'] +[2026-05-26 01:04:39,386] INFO Resolved MolmoSpaces action semantics from checkpoint: source=pnp_next_to_v2 type=molmo_raw arm_action_key=joint_pos_rel gripper_action_key=joint_pos action_type=joint_pos_rel arm_command_mode=joint_rel_position +[2026-05-26 01:04:39,469] INFO Using explicit task_horizon override: 450 steps +[05/26 01:04:39 INFO pipeline.py:677] WandB logging disabled (environment variables not set) +[2026-05-26 01:04:39,520] INFO JsonEvalRunner initialized: 41 houses, 46 episodes from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 01:04:39 INFO pipeline.py:1279] Starting house-by-house rollout of 41 houses with 2 episodes each (82 total episodes) using 1 worker processes +[05/26 01:04:39 INFO pipeline.py:1286] Evaluation configuration: +[05/26 01:04:39 INFO pipeline.py:1287] {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['droid_shoulder_light_randomization', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 'wan_molmobot_franka', + 'obs_camera_name': 'droid_shoulder_light_randomization', + 'obs_image_key': 'rgb_head', + 'obs_state_key': 'robot_state', + 'obs_wrist_camera_name': 'wrist_camera_zed_mini', + 'obs_wrist_image_key': 'rgb_wrist', + 'policy_cls': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [3725, + 3774, + 3775, + 3840, + 3891, + 3944, + 3972, + 4013, + 4061, + 4132, + 4190, + 4223, + 4260, + 4341, + 4372, + 4406, + 4465, + 4532, + 4580, + 4613, + 4640, + 4692, + 4728, + 4764, + 4802, + 4856, + 4909, + 4980, + 4999, + 5019, + 5097, + 5161, + 5208, + 5281, + 5283, + 5340, + 5417, + 5454, + 5488, + 5535, + 5561], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} +[2026-05-26 01:04:39,531] INFO Saved experiment configuration to /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439 +[05/26 01:04:39 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler +[05/26 01:04:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/26 01:04:39 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler +[05/26 01:04:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3725 (index 0/41) +[05/26 01:04:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3725 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 01:04:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes + Checking objects/objaverse: 0%| | 0/25 [00:00 does not support tracking retries. +2026-05-26 01:06:05.683 | INFO | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0 +[2026-05-26 01:06:41,352] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k) +[2026-05-26 01:06:41,922] INFO [timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k] Safe alternative available for 'pytorch_model.bin' (as 'model.safetensors'). Loading weights using safetensors. +[2026-05-26 01:08:51,125] INFO Number of parameters in DiT: 1.821428e+07 +[2026-05-26 01:09:04,847] INFO Loaded generic psi-policy checkpoint | target=psi_policy.policy.psi_policy.PsiPolicy | obs_keys=['rgb_head', 'rgb_wrist', 'robot_state', 'text_context'] | action_horizon=16 | action_dim=8 +[2026-05-26 01:09:04,851] INFO Loaded MolmoSpaces policy | checkpoint=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt | target=psi_policy.policy.psi_policy.PsiPolicy | device=cuda:0 | action_chunk_size=8 +[05/26 01:09:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:17:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 3725 episode 0 object objapopsicle_ea06ce6c179a4676a1e9329f3b7ee127_2_0_6 completed with success=False +[05/26 01:17:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3725: 1 episodes +[05/26 01:17:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:17:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:17:51 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_3725 +[05/26 01:17:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3725 in 3.38s (batch: 3.18s, save: 0.20s) +[05/26 01:17:52 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3725 +[05/26 01:17:52 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3725: 0/1 successful episodes +[05/26 01:17:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3774 (index 1/41) +[05/26 01:17:52 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3774 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 01:17:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/14 [00:00 does not support tracking retries. +[05/26 01:22:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:25:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 3774 episode 0 object objaicecreambar_50eb315890824abaaeb656e22be89710_1_0_2 completed with success=False +[05/26 01:25:04 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3774: 1 episodes +[05/26 01:25:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:25:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:25:06 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_3774 +[05/26 01:25:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3774 in 2.28s (batch: 2.19s, save: 0.09s) +[05/26 01:25:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3774 +[05/26 01:25:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3774: 0/1 successful episodes +[05/26 01:25:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3775 (index 2/41) +[05/26 01:25:06 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 3775 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 01:25:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/39 [00:00 does not support tracking retries. +[2026-05-26 01:35:11,252] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/huggingface_hub/file_download.py:945: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`. + warnings.warn( +[05/26 01:39:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 3775 episode 0 object objapaymentterminal_3e1e65fa70574e4b92cc37120ec03816_1_0_3 completed with success=False +[05/26 01:39:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/39 [00:00 does not support tracking retries. +[2026-05-26 01:42:58,779] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 01:46:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 3775 episode 1 object objamedallion_de9cffc6f2d740bf822965b56e65eb8d_1_0_4 completed with success=False +[05/26 01:46:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3775: 2 episodes +[05/26 01:46:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:46:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:46:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:46:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:46:33 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_3775 +[05/26 01:46:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3775 in 4.39s (batch: 4.22s, save: 0.17s) +[05/26 01:46:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3775 +[05/26 01:46:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3775: 0/2 successful episodes +[05/26 01:46:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3840 (index 3/41) +[05/26 01:46:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3840 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 01:46:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +[05/26 01:55:32 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_98ad81f9aaa74fe0c8d1de65acb880ca_1_0_3 in scene +[2026-05-26 01:56:36,677] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 01:57:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:00:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 3840 episode 0 object objaathleticshoe_66486970c49f498aa3d3a17f771c63bf_1_0_3 completed with success=False +[05/26 02:00:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3840: 1 episodes +[05/26 02:00:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:00:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:00:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_3840 +[05/26 02:00:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3840 in 3.22s (batch: 2.94s, save: 0.28s) +[05/26 02:00:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3840 +[05/26 02:00:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3840: 0/1 successful episodes +[05/26 02:00:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3891 (index 4/41) +[05/26 02:00:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3891 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 02:00:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +[05/26 02:00:29 Worker 0 WARNING object_manager.py:1238] Could not find object objaband_eca69b5af4c44fb0bf968b343efad030_1_0_5 in scene +[05/26 02:00:29 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_5 in scene +[05/26 02:00:29 Worker 0 WARNING object_manager.py:1238] Could not find object objadentures_46145e0221e94a3185b215c07d0f4340_1_0_5 in scene +[2026-05-26 02:02:48,772] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:04:10 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:09:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 3891 episode 0 object objafoodpacket_58ff4a1e3fb24fbca6989f9b6d1fe23e_2_0_2 completed with success=False +[05/26 02:09:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3891: 1 episodes +[05/26 02:09:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:09:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:09:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_3891 +[05/26 02:09:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3891 in 4.09s (batch: 3.82s, save: 0.27s) +[05/26 02:09:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3891 +[05/26 02:09:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3891: 0/1 successful episodes +[05/26 02:09:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3944 (index 5/41) +[05/26 02:09:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3944 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 02:09:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/56 [00:00 does not support tracking retries. +[05/26 02:10:08 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene +[2026-05-26 02:12:08,558] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:13:14 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:22:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 3944 episode 0 object objasmokegrenade_d8e89a86fa0c4630b3705222e17cd901_1_0_4 completed with success=False +[05/26 02:22:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3944: 1 episodes +[05/26 02:22:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:22:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:22:15 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_3944 +[05/26 02:22:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3944 in 3.43s (batch: 3.27s, save: 0.16s) +[05/26 02:22:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3944 +[05/26 02:22:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3944: 0/1 successful episodes +[05/26 02:22:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3972 (index 6/41) +[05/26 02:22:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3972 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 02:22:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +[05/26 02:22:26 Worker 0 WARNING object_manager.py:1238] Could not find object vase_d568e4c5c2948c69c05d527517276b06_1_0_2 in scene +[2026-05-26 02:24:24,101] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:31:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 3972 episode 0 object objaelectronicdisplaymodule_37d29ad966cc4f58b81754088e774bd7_1_0_2 completed with success=False +[05/26 02:31:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3972: 1 episodes +[05/26 02:31:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:31:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:31:12 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_3972 +[05/26 02:31:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3972 in 2.93s (batch: 2.82s, save: 0.12s) +[05/26 02:31:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3972 +[05/26 02:31:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3972: 0/1 successful episodes +[05/26 02:31:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4013 (index 7/41) +[05/26 02:31:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4013 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 02:31:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[05/26 02:31:31 Worker 0 WARNING object_manager.py:1238] Could not find object objasportsshoe_6b4506025d2e4c38bf943c377e53a82b_1_0_5 in scene +[05/26 02:31:31 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_8c6e5265f19b49709119c2628c2bdf3f_1_0_5 in scene +[05/26 02:31:31 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeemblem_fc3742fa990943c29401e60aaf476c81_2_0_7 in scene +[2026-05-26 02:32:42,131] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:39:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 4013 episode 0 object objadecorativefixture_03b5e7bf16d14cae92c993152044446f_1_0_6 completed with success=False +[05/26 02:39:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4013: 1 episodes +[05/26 02:39:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:39:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:39:12 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4013 +[05/26 02:39:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4013 in 3.28s (batch: 3.14s, save: 0.14s) +[05/26 02:39:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4013 +[05/26 02:39:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4013: 0/1 successful episodes +[05/26 02:39:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4061 (index 8/41) +[05/26 02:39:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4061 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 02:39:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/4 [00:00 does not support tracking retries. +[2026-05-26 02:41:38,791] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:43:33 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:47:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 4061 episode 0 object objadecorativeblades_49da7278b073450686dec40d5d61f8ef_1_0_2 completed with success=False +[05/26 02:47:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4061: 1 episodes +[05/26 02:47:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:47:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:47:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4061 +[05/26 02:47:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4061 in 4.28s (batch: 4.07s, save: 0.21s) +[05/26 02:47:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4061 +[05/26 02:47:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4061: 0/1 successful episodes +[05/26 02:47:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4132 (index 9/41) +[05/26 02:47:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4132 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 02:47:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +[2026-05-26 02:49:22,473] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:50:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:54:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 4132 episode 0 object objadecorativedish_6a575ec757024924b9844d85f3afaa1e_1_0_8 completed with success=False +[05/26 02:54:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4132: 1 episodes +[05/26 02:54:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:55:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:55:03 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4132 +[05/26 02:55:03 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4132 in 4.17s (batch: 3.94s, save: 0.23s) +[05/26 02:55:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4132 +[05/26 02:55:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4132: 0/1 successful episodes +[05/26 02:55:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4190 (index 10/41) +[05/26 02:55:04 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4190 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 02:55:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +[2026-05-26 02:57:53,434] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:59:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:07:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 4190 episode 0 object objadecorativebutterfly_a6073d8c8b454928bad247c294a57416_1_0_2 completed with success=False +[05/26 03:07:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4190: 1 episodes +[05/26 03:07:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:07:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:07:41 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4190 +[05/26 03:07:41 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4190 in 3.99s (batch: 3.82s, save: 0.17s) +[05/26 03:07:42 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4190 +[05/26 03:07:42 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4190: 0/1 successful episodes +[05/26 03:07:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4223 (index 11/41) +[05/26 03:07:42 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4223 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 03:07:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +[05/26 03:07:50 Worker 0 WARNING object_manager.py:1238] Could not find object candle_fe12fa900f50b1f2dcab659cebcf492b_1_0_5 in scene +[2026-05-26 03:10:15,616] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:16:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 4223 episode 0 object objadrillbit_977b1e30dac346c09e5ba28fe3b19fd3_1_0_6 completed with success=False +[05/26 03:16:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +[05/26 03:16:07 Worker 0 WARNING object_manager.py:1238] Could not find object candle_fe12fa900f50b1f2dcab659cebcf492b_1_0_5 in scene +[2026-05-26 03:17:56,314] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:19:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:23:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 4223 episode 1 object objaelectricalsocket_7c05b98d60884e12aa05ae00feda5bbe_1_0_6 completed with success=False +[05/26 03:23:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4223: 2 episodes +[05/26 03:23:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:23:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:23:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:23:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:23:12 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4223 +[05/26 03:23:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4223 in 4.83s (batch: 4.65s, save: 0.18s) +[05/26 03:23:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4223 +[05/26 03:23:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4223: 0/2 successful episodes +[05/26 03:23:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4260 (index 12/41) +[05/26 03:23:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4260 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 03:23:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +[05/26 03:23:27 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativewallsign_972753f8916f4faeb31cd3beabc0f873_2_0_2 in scene +[05/26 03:23:27 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativestrip_cd800e23d29843c3a02601b0ea022c4d_1_0_2 in scene +[2026-05-26 03:24:37,718] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:25:14 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:30:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 4260 episode 0 object objastopwatch_ab795908c0874284a01556b71ac8f34a_1_0_5 completed with success=False +[05/26 03:30:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4260: 1 episodes +[05/26 03:30:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:30:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:30:29 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4260 +[05/26 03:30:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4260 in 3.85s (batch: 3.68s, save: 0.17s) +[05/26 03:30:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4260 +[05/26 03:30:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4260: 0/1 successful episodes +[05/26 03:30:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4341 (index 13/41) +[05/26 03:30:29 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4341 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 03:30:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/17 [00:00 does not support tracking retries. +[2026-05-26 03:32:42,909] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:34:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:38:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 4341 episode 0 object objapopsicle_ea06ce6c179a4676a1e9329f3b7ee127_2_0_6 completed with success=False +[05/26 03:38:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4341: 1 episodes +[05/26 03:38:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:38:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:38:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4341 +[05/26 03:38:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4341 in 4.84s (batch: 4.70s, save: 0.14s) +[05/26 03:38:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4341 +[05/26 03:38:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4341: 0/1 successful episodes +[05/26 03:38:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4372 (index 14/41) +[05/26 03:38:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4372 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 03:38:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/26 03:38:52 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativesymbol_901e291f621540ab85bf50d5b6fc25de_1_0_5 in scene +[05/26 03:38:52 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene +[2026-05-26 03:41:01,330] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:41:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:44:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 4372 episode 0 object apple_3076d24521ee5e895156b37b1b9fb130_1_0_8 completed with success=False +[05/26 03:44:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4372: 1 episodes +[05/26 03:44:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:45:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:45:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4372 +[05/26 03:45:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4372 in 2.76s (batch: 2.61s, save: 0.14s) +[05/26 03:45:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4372 +[05/26 03:45:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4372: 0/1 successful episodes +[05/26 03:45:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4406 (index 15/41) +[05/26 03:45:03 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4406 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 03:45:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[2026-05-26 03:46:37,849] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:47:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:53:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 4406 episode 0 object objaprintedcircuitboard_dd07a5351c854a02bb6def55164023dd_1_0_3 completed with success=False +[05/26 03:53:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4406: 1 episodes +[05/26 03:53:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:53:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:53:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4406 +[05/26 03:53:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4406 in 3.68s (batch: 3.50s, save: 0.19s) +[05/26 03:53:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4406 +[05/26 03:53:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4406: 0/1 successful episodes +[05/26 03:53:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4465 (index 16/41) +[05/26 03:53:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4465 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 03:53:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +[05/26 03:53:51 Worker 0 WARNING object_manager.py:1238] Could not find object objaclog_4622e88fd9264b37997671efeb73af85_1_0_5 in scene +[05/26 03:53:51 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativetile_7584f83361f546ed890ae9aa823df1cb_1_0_5 in scene +[05/26 03:53:51 Worker 0 WARNING object_manager.py:1238] Could not find object objacollar_5f329a75ab1a4890868ba37061ca3396_1_0_5 in scene +[2026-05-26 03:55:38,561] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:56:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:59:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 4465 episode 0 object objamedicinebox_062a5843f2214b5ebf9c90273f803e16_1_0_6 completed with success=False +[05/26 04:00:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4465: 1 episodes +[05/26 04:00:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:00:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:00:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4465 +[05/26 04:00:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4465 in 3.22s (batch: 3.05s, save: 0.18s) +[05/26 04:00:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4465 +[05/26 04:00:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4465: 0/1 successful episodes +[05/26 04:00:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4532 (index 17/41) +[05/26 04:00:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4532 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 04:00:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/9 [00:00 does not support tracking retries. +[2026-05-26 04:02:13,139] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:03:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:06:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 4532 episode 0 object objaartifact_787b8c3a105a484681d6f6258099cca5_1_0_2 completed with success=False +[05/26 04:06:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4532: 1 episodes +[05/26 04:06:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:06:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:06:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4532 +[05/26 04:06:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4532 in 2.78s (batch: 2.68s, save: 0.10s) +[05/26 04:06:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4532 +[05/26 04:06:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4532: 0/1 successful episodes +[05/26 04:06:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4580 (index 18/41) +[05/26 04:06:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4580 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 04:06:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +[05/26 04:06:56 Worker 0 WARNING object_manager.py:1238] Could not find object objareplicatooth_c7bf1c4c76f74da4bbc1620e1173e189_1_0_5 in scene +[05/26 04:06:56 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_c60254aae031ecd4e316a5add61459a4_1_0_5 in scene +[05/26 04:06:56 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_7 in scene +[05/26 04:06:56 Worker 0 WARNING object_manager.py:1238] Could not find object objavintagemobilephone_e1a072af323f4d358bad054195353b96_1_0_8 in scene +[05/26 04:06:56 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_116f2e48d98aa5352b25743c587e8255_1_0_8 in scene +[2026-05-26 04:08:16,003] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:08:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:17:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 4580 episode 0 object objafiredepartmentconnection_b4946020065141e5b994e0ca5ed23882_1_0_8 completed with success=False +[05/26 04:18:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4580: 1 episodes +[05/26 04:18:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:18:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:18:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4580 +[05/26 04:18:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4580 in 3.64s (batch: 3.48s, save: 0.16s) +[05/26 04:18:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4580 +[05/26 04:18:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4580: 0/1 successful episodes +[05/26 04:18:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4613 (index 19/41) +[05/26 04:18:06 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4613 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 04:18:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[2026-05-26 04:20:43,442] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:25:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 4613 episode 0 object objacollar_5f329a75ab1a4890868ba37061ca3396_1_0_7 completed with success=False +[05/26 04:25:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[2026-05-26 04:27:12,394] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:28:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:32:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 4613 episode 1 object objamarker_be34b3e0b8e44511b6c3bccb76a472d2_1_0_5 completed with success=False +[05/26 04:32:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4613: 2 episodes +[05/26 04:32:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:32:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:32:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:32:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:32:26 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4613 +[05/26 04:32:26 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4613 in 6.48s (batch: 6.19s, save: 0.29s) +[05/26 04:32:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4613 +[05/26 04:32:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4613: 0/2 successful episodes +[05/26 04:32:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4640 (index 20/41) +[05/26 04:32:27 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4640 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 04:32:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/7 [00:00 does not support tracking retries. +[2026-05-26 04:34:17,334] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:34:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:36:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 4640 episode 0 object objagrenade_2bf43075c62749e28e1a8c2f0d766c67_1_0_2 completed with success=False +[05/26 04:36:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4640: 1 episodes +[05/26 04:36:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:36:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:36:45 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4640 +[05/26 04:36:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4640 in 3.21s (batch: 3.09s, save: 0.12s) +[05/26 04:36:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4640 +[05/26 04:36:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4640: 0/1 successful episodes +[05/26 04:36:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4692 (index 21/41) +[05/26 04:36:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4692 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 04:36:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +[2026-05-26 04:38:02,716] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:38:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:40:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 4692 episode 0 object soapdispenser_e2340594c344cded466620d23f003e8a_1_0_2 completed with success=False +[05/26 04:40:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4692: 1 episodes +[05/26 04:40:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:40:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:40:25 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4692 +[05/26 04:40:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4692 in 2.71s (batch: 2.61s, save: 0.09s) +[05/26 04:40:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4692 +[05/26 04:40:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4692: 0/1 successful episodes +[05/26 04:40:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4728 (index 22/41) +[05/26 04:40:26 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4728 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 04:40:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/60 [00:00 does not support tracking retries. +[05/26 04:40:46 Worker 0 WARNING object_manager.py:1238] Could not find object objamultitool_8e4f71b51ecc41488c0bd05491217797_1_0_2 in scene +[05/26 04:40:46 Worker 0 WARNING object_manager.py:1238] Could not find object Irishpotato_19394b332cf16c9d218c9f434ecf9c48_1_0_2 in scene +[05/26 04:40:46 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +[2026-05-26 04:42:19,407] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:49:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 4728 episode 0 object objavintageiron_187871edbc5e40d8a75a4b654ce32146_1_0_2 completed with success=False +[05/26 04:49:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4728: 1 episodes +[05/26 04:49:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:49:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:49:47 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4728 +[05/26 04:49:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4728 in 2.81s (batch: 2.68s, save: 0.13s) +[05/26 04:49:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4728 +[05/26 04:49:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4728: 0/1 successful episodes +[05/26 04:49:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4764 (index 23/41) +[05/26 04:49:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4764 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 04:49:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/6 [00:00 does not support tracking retries. +[2026-05-26 04:51:35,357] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:54:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 4764 episode 0 object objasculptingtool_f7f0c3b473e049aa84d9251793113418_1_0_2 completed with success=False +[05/26 04:55:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4764: 1 episodes +[05/26 04:55:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:55:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:55:03 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4764 +[05/26 04:55:03 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4764 in 2.19s (batch: 2.10s, save: 0.09s) +[05/26 04:55:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4764 +[05/26 04:55:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4764: 0/1 successful episodes +[05/26 04:55:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4802 (index 24/41) +[05/26 04:55:04 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4802 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 04:55:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/24 [00:00 does not support tracking retries. +[2026-05-26 04:56:42,328] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:57:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:01:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 4802 episode 0 object objaceramicbirdfigure_182ce75662ca4a98bc00e54a43dfef4e_1_0_6 completed with success=False +[05/26 05:02:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4802: 1 episodes +[05/26 05:02:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:02:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:02:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4802 +[05/26 05:02:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4802 in 2.67s (batch: 2.51s, save: 0.16s) +[05/26 05:02:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4802 +[05/26 05:02:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4802: 0/1 successful episodes +[05/26 05:02:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4856 (index 25/41) +[05/26 05:02:04 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4856 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 05:02:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +[2026-05-26 05:04:02,608] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:05:03 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:14:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 4856 episode 0 object objadecorativearrow_bdc5664a76f74806b5ae78dd7793fbef_1_0_6 completed with success=False +[05/26 05:14:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4856: 1 episodes +[05/26 05:14:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:14:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:14:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4856 +[05/26 05:14:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4856 in 4.01s (batch: 3.80s, save: 0.21s) +[05/26 05:14:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4856 +[05/26 05:14:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4856: 0/1 successful episodes +[05/26 05:14:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4909 (index 26/41) +[05/26 05:14:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4909 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 05:14:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +[2026-05-26 05:16:40,931] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:17:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:21:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 4909 episode 0 object objapopsicle_d6caf34a19354df890e60be6786de20c_1_0_8 completed with success=False +[05/26 05:21:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4909: 1 episodes +[05/26 05:21:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:21:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:21:26 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4909 +[05/26 05:21:26 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4909 in 2.65s (batch: 2.52s, save: 0.13s) +[05/26 05:21:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4909 +[05/26 05:21:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4909: 0/1 successful episodes +[05/26 05:21:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4980 (index 27/41) +[05/26 05:21:26 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4980 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 05:21:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[2026-05-26 05:23:12,592] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:24:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:30:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 4980 episode 0 object objacard_ed4f37ab0ac84610bace2bbecabcef4c_1_0_2 completed with success=False +[05/26 05:30:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4980: 1 episodes +[05/26 05:30:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:30:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:30:24 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4980 +[05/26 05:30:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4980 in 3.34s (batch: 3.21s, save: 0.13s) +[05/26 05:30:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4980 +[05/26 05:30:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4980: 0/1 successful episodes +[05/26 05:30:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4999 (index 28/41) +[05/26 05:30:24 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4999 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 05:30:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/26 05:30:44 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativepanel_a17676f45b3d483c9dc1910a2eb17269_1_0_8 in scene +[05/26 05:30:44 Worker 0 WARNING object_manager.py:1238] Could not find object objadressshoe_08158fa3333a4b288bd2746a6ba6f9e5_1_0_9 in scene +[05/26 05:30:44 Worker 0 WARNING object_manager.py:1238] Could not find object objamarbleslab_7d540d7b25af4e41a58eaeb5037f88a9_1_0_9 in scene +[2026-05-26 05:32:48,163] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:38:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 4999 episode 0 object objahandbell_2ad2c9631a83455c9ec767a404d018df_1_0_3 completed with success=False +[05/26 05:38:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/26 05:38:17 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativepanel_a17676f45b3d483c9dc1910a2eb17269_1_0_8 in scene +[05/26 05:38:17 Worker 0 WARNING object_manager.py:1238] Could not find object objadressshoe_08158fa3333a4b288bd2746a6ba6f9e5_1_0_9 in scene +[05/26 05:38:17 Worker 0 WARNING object_manager.py:1238] Could not find object objamarbleslab_7d540d7b25af4e41a58eaeb5037f88a9_1_0_9 in scene +[2026-05-26 05:39:49,112] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:45:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 4999 episode 1 object objaadjustablewrench_ae5c3481f14d4683a319667717d65352_1_0_3 completed with success=False +[05/26 05:45:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4999: 2 episodes +[05/26 05:45:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:45:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:45:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:45:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:45:19 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4999 +[05/26 05:45:19 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4999 in 6.57s (batch: 6.32s, save: 0.24s) +[05/26 05:45:20 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4999 +[05/26 05:45:20 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4999: 0/2 successful episodes +[05/26 05:45:20 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5019 (index 29/41) +[05/26 05:45:20 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5019 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 05:45:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/32 [00:00 does not support tracking retries. +[2026-05-26 05:47:45,969] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:52:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 5019 episode 0 object objatoygun_b7faa9ff7e214e678e7e5523afdd6356_1_0_4 completed with success=False +[05/26 05:52:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5019: 1 episodes +[05/26 05:52:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:52:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:52:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5019 +[05/26 05:52:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5019 in 3.20s (batch: 3.05s, save: 0.14s) +[05/26 05:52:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5019 +[05/26 05:52:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5019: 0/1 successful episodes +[05/26 05:52:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5097 (index 30/41) +[05/26 05:52:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5097 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 05:52:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/8 [00:00 does not support tracking retries. +[2026-05-26 05:54:51,507] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:56:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:58:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 5097 episode 0 object objafoodpackage_b33ef62be6564684ac8ba70c41cccc07_1_0_2 completed with success=False +[05/26 05:58:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5097: 1 episodes +[05/26 05:58:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:58:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:58:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5097 +[05/26 05:58:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5097 in 2.37s (batch: 2.27s, save: 0.10s) +[05/26 05:58:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5097 +[05/26 05:58:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5097: 0/1 successful episodes +[05/26 05:58:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5161 (index 31/41) +[05/26 05:58:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5161 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 05:58:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +[2026-05-26 06:00:37,091] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:01:04 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:03:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 5161 episode 0 object objaemergencyradio_875d6d844ced424bb9eaa5659ef888ac_1_0_6 completed with success=False +[05/26 06:03:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5161: 1 episodes +[05/26 06:03:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:03:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:03:15 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5161 +[05/26 06:03:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5161 in 2.23s (batch: 2.14s, save: 0.09s) +[05/26 06:03:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5161 +[05/26 06:03:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5161: 0/1 successful episodes +[05/26 06:03:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5208 (index 32/41) +[05/26 06:03:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5208 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 06:03:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/27 [00:00 does not support tracking retries. +[05/26 06:03:27 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +[2026-05-26 06:05:28,634] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:11:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 5208 episode 0 object objatelegraphkey_152bc6ed25b14945b6ff62a60f446334_1_0_6 completed with success=False +[05/26 06:11:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5208: 1 episodes +[05/26 06:11:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:11:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:11:45 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5208 +[05/26 06:11:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5208 in 3.54s (batch: 3.34s, save: 0.20s) +[05/26 06:11:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5208 +[05/26 06:11:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5208: 0/1 successful episodes +[05/26 06:11:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5281 (index 33/41) +[05/26 06:11:46 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 5281 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 06:11:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +[2026-05-26 06:14:02,361] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:17:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 5281 episode 0 object objaceramicmug_a194e0482994495983f6e46559a76600_1_0_2 completed with success=False +[05/26 06:18:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +[2026-05-26 06:20:23,211] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:21:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:24:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 5281 episode 1 object objacostumefigure_0bd37fcf74214be0b2e0b8d1b4105aea_1_0_6 completed with success=False +[05/26 06:24:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5281: 2 episodes +[05/26 06:24:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:24:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:24:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:24:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:24:28 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5281 +[05/26 06:24:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5281 in 5.14s (batch: 4.90s, save: 0.24s) +[05/26 06:24:28 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5281 +[05/26 06:24:28 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5281: 0/2 successful episodes +[05/26 06:24:28 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5283 (index 34/41) +[05/26 06:24:28 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5283 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 06:24:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +[2026-05-26 06:25:54,437] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:26:13 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:29:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 5283 episode 0 object objajuicer_d5d126549f254e21bfc1200eac7a38f1_1_0_6 completed with success=False +[05/26 06:29:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5283: 1 episodes +[05/26 06:29:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:29:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:29:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5283 +[05/26 06:29:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5283 in 3.19s (batch: 3.04s, save: 0.15s) +[05/26 06:29:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5283 +[05/26 06:29:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5283: 0/1 successful episodes +[05/26 06:29:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5340 (index 35/41) +[05/26 06:29:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5340 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 06:29:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/53 [00:00 does not support tracking retries. +[05/26 06:29:58 Worker 0 WARNING object_manager.py:1238] Could not find object objabookmark_3a40ec29515c4ac0ba393b1830ad39fc_1_0_3 in scene +[2026-05-26 06:31:46,463] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:32:20 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:35:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 5340 episode 0 object objaocarina_dedd2ab83a78404085dd2168d511d9b0_1_0_4 completed with success=False +[05/26 06:35:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5340: 1 episodes +[05/26 06:35:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:35:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:35:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5340 +[05/26 06:35:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5340 in 2.34s (batch: 2.23s, save: 0.11s) +[05/26 06:35:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5340 +[05/26 06:35:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5340: 0/1 successful episodes +[05/26 06:35:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5417 (index 36/41) +[05/26 06:35:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5417 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 06:35:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/66 [00:00 does not support tracking retries. +[05/26 06:35:40 Worker 0 WARNING object_manager.py:1238] Could not find object objafoil_67f6e895f5f34572afc152008228d819_1_0_9 in scene +[05/26 06:35:40 Worker 0 WARNING object_manager.py:1238] Could not find object objadentures_46145e0221e94a3185b215c07d0f4340_1_0_9 in scene +[2026-05-26 06:37:30,466] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:44:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 5417 episode 0 object objaclimbingshoe_6612b1e3ee2b4e08952f6bf2b26bd75a_1_0_5 completed with success=False +[05/26 06:44:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5417: 1 episodes +[05/26 06:44:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:44:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:44:06 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5417 +[05/26 06:44:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5417 in 2.71s (batch: 2.62s, save: 0.09s) +[05/26 06:44:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5417 +[05/26 06:44:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5417: 0/1 successful episodes +[05/26 06:44:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5454 (index 37/41) +[05/26 06:44:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5454 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 06:44:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +[05/26 06:44:12 Worker 0 WARNING object_manager.py:1238] Could not find object objastopwatch_9bed8516b3264d0fa505609c1d19ccf0_1_0_5 in scene +[2026-05-26 06:45:29,016] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:45:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:48:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 5454 episode 0 object objasmartphone_a277fe5b13614659bab459f0df3adf8d_1_0_6 completed with success=False +[05/26 06:48:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5454: 1 episodes +[05/26 06:48:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:48:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:48:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5454 +[05/26 06:48:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5454 in 2.16s (batch: 2.07s, save: 0.09s) +[05/26 06:48:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5454 +[05/26 06:48:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5454: 0/1 successful episodes +[05/26 06:48:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5488 (index 38/41) +[05/26 06:48:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5488 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 06:48:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +[2026-05-26 06:49:41,466] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:53:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 5488 episode 0 object objatoyrifle_c085a04dae664cfe958c22fde3a18283_1_0_6 completed with success=False +[05/26 06:53:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5488: 1 episodes +[05/26 06:53:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:53:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:53:26 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5488 +[05/26 06:53:26 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5488 in 2.57s (batch: 2.48s, save: 0.09s) +[05/26 06:53:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5488 +[05/26 06:53:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5488: 0/1 successful episodes +[05/26 06:53:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5535 (index 39/41) +[05/26 06:53:27 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5535 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 06:53:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/14 [00:00 does not support tracking retries. +[2026-05-26 06:54:33,184] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:54:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 07:02:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 5535 episode 0 object objasandal_236d43744d2e42db923b0dbd7ee0e911_1_0_3 completed with success=False +[05/26 07:02:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5535: 1 episodes +[05/26 07:02:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 07:02:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 07:02:54 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5535 +[05/26 07:02:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5535 in 2.73s (batch: 2.64s, save: 0.09s) +[05/26 07:02:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5535 +[05/26 07:02:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5535: 0/1 successful episodes +[05/26 07:02:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5561 (index 40/41) +[05/26 07:02:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5561 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 07:02:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/60 [00:00 does not support tracking retries. +[05/26 07:03:06 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +[05/26 07:03:06 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_2_0_9 in scene +[05/26 07:03:06 Worker 0 WARNING object_manager.py:1238] Could not find object objanecklace_44783028272144c5abe0652d6be37b20_1_0_9 in scene +[05/26 07:03:06 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeband_26be4c662c434a66b9e15d66eb4130d8_1_0_9 in scene +[05/26 07:03:06 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_98ad81f9aaa74fe0c8d1de65acb880ca_1_0_9 in scene +[2026-05-26 07:04:28,527] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 07:07:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 5561 episode 0 object objaspraypaintcan_9e725e49c0074fc0a1a08cacc85ee898_2_0_8 completed with success=False +[05/26 07:07:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5561: 1 episodes +[05/26 07:07:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 07:07:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 07:07:27 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5561 +[05/26 07:07:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5561 in 2.51s (batch: 2.42s, save: 0.09s) +[05/26 07:07:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5561 +[05/26 07:07:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5561: 0/1 successful episodes +[05/26 07:07:27 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses +[05/26 07:07:28 INFO pipeline.py:1496] Completed 41 houses, skipped 0 houses +[05/26 07:07:28 INFO pipeline.py:1499] Success count: 0, Total count: 46 +[05/26 07:07:28 INFO pipeline.py:1500] Success rate: 0.00% +Combined 46 episodes from 41 files → /tmp/tmpt4yxz8_w.h5 + +Saved → /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/results.csv at-end: 0.0% | oracle: 0.0% of 46 episodes +[2026-05-26 07:07:32,552] INFO MolmoSpaces simulator eval finished: success=0/46 rate=0.0000 output=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval +[2026-05-26 07:07:32,552] INFO Benchmark CSV: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/results.csv diff --git a/pnp_v2/pnp_v2/shards/shard_07/run_command.sh b/pnp_v2/pnp_v2/shards/shard_07/run_command.sh new file mode 100644 index 0000000000000000000000000000000000000000..4dba9a563cda6eb1b3e16c66c61a6a5936d10dec --- /dev/null +++ b/pnp_v2/pnp_v2/shards/shard_07/run_command.sh @@ -0,0 +1,4 @@ +#!/usr/bin/env bash +set -euo pipefail +cd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy +conda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament diff --git a/pnp_v2/pnp_v2/submission/FrankaPickandPlaceHardBench_20260206_json_benchmark_results.csv b/pnp_v2/pnp_v2/submission/FrankaPickandPlaceHardBench_20260206_json_benchmark_results.csv new file mode 100644 index 0000000000000000000000000000000000000000..e608ebe8c4038de97615707789a1267dcf13c4f7 --- /dev/null +++ b/pnp_v2/pnp_v2/submission/FrankaPickandPlaceHardBench_20260206_json_benchmark_results.csv @@ -0,0 +1,512 @@ +# policy_name: latest +# run_path: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards +# dt: 0.066 +# max_steps: 450 +policy,category,successes,total,success_rate_pct,ci_95_low_pct,ci_95_high_pct,oracle_successes,oracle_rate_pct,oracle_ci_95_low_pct,oracle_ci_95_high_pct,jerk_joint_mean,jerk_joint_std +latest,Alarmclock,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,35.032317,13.245977 +latest,Bowl,0,4,0.0,0.51,52.18,0,0.0,0.51,52.18,59.598142,17.748836 +latest,Candle,0,4,0.0,0.51,52.18,0,0.0,0.51,52.18,62.424474,56.071591 +latest,Cellulartelephone,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,22.138911,8.61718 +latest,Cup,1,5,20.0,4.33,64.12,1,20.0,4.33,64.12,44.531214,23.565174 +latest,Egg,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,52.97567,43.002684 +latest,Fruit,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,66.894558,32.179663 +latest,Irishpotato,0,7,0.0,0.32,36.94,0,0.0,0.32,36.94,53.037383,19.651943 +latest,Knife,0,5,0.0,0.42,45.93,0,0.0,0.42,45.93,52.98245,24.565544 +latest,Objaactionfigure,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,70.453419,0.0 +latest,Objaadjustablewrench,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,33.428984,15.193533 +latest,Objaaerosolcan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,27.217543,0.0 +latest,Objaairblower,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,26.726599,13.645548 +latest,Objaalarmclock,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,8.205044,0.0 +latest,Objaaluminumextrusionprofile,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,20.481702,0.0 +latest,Objaammunition,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,51.548384,11.011228 +latest,Objaamulet,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,44.384098,8.625718 +latest,Objaanemometer,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,30.7874,0.0 +latest,Objaanimalfigure,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,43.760131,0.0 +latest,Objaantiqueiron,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.477969,0.0 +latest,Objaantiquekey,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,81.551806,0.0 +latest,Objaantiquetool,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,52.470919,15.90015 +latest,Objaarrowhead,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,52.456201,11.950689 +latest,Objaartifact,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,32.358336,25.767987 +latest,Objaartificialflower,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.617001,0.0 +latest,Objaathleticshoe,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,24.009887,13.438475 +latest,Objaaudiorecorder,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,18.331039,0.0 +latest,Objaavocado,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,47.635242,0.0 +latest,Objaawl,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,31.027067,21.191302 +latest,Objabacteriummodel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,27.498667,0.0 +latest,Objabadge,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,44.895591,8.926713 +latest,Objaband,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,52.087425,15.517533 +latest,Objabarcodescanner,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,22.225755,5.826954 +latest,Objabatterypack,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,40.730871,18.063735 +latest,Objabeetle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,151.637038,0.0 +latest,Objabellpepper,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.222843,0.0 +latest,Objabeltbuckle,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,31.890973,13.727692 +latest,Objabeveragecarton,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,75.536618,35.335288 +latest,Objabeveragecontainer,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.14695,0.0 +latest,Objabeveragecup,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.199208,0.0 +latest,Objabird,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.380024,0.0 +latest,Objabirdfigurine,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,32.995019,3.425067 +latest,Objabluetoothspeaker,0,4,0.0,0.51,52.18,0,0.0,0.51,52.18,39.620247,10.379744 +latest,Objabolt,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,60.727668,0.0 +latest,Objabone,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,62.579191,0.0 +latest,Objabottle,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,35.591354,2.909184 +latest,Objabottleopener,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,35.710074,20.349289 +latest,Objabouquet,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,58.876725,0.0 +latest,Objabowtie,0,4,0.0,0.51,52.18,0,0.0,0.51,52.18,43.318212,30.5641 +latest,Objabrush,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,14.5691,0.0 +latest,Objabullet,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,32.96303,2.782565 +latest,Objabulletcartridge,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,40.189682,4.235144 +latest,Objabutterflyknife,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,30.583907,7.582003 +latest,Objabutton,1,4,25.0,5.27,71.64,1,25.0,5.27,71.64,32.58111,20.847624 +latest,Objacabinethinge,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,25.059858,12.648824 +latest,Objacalculatorradio,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,31.756867,0.0 +latest,Objacamcorder,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,22.615317,12.764419 +latest,Objacamera,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,29.284591,0.897896 +latest,Objacan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,28.675332,0.0 +latest,Objacandle,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,64.950984,30.522733 +latest,Objacandlestickholder,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,52.003984,0.0 +latest,Objacandywrapper,0,5,0.0,0.42,45.93,0,0.0,0.42,45.93,49.277276,31.505468 +latest,Objacanopener,0,4,0.0,0.51,52.18,0,0.0,0.51,52.18,49.341012,6.285558 +latest,Objacapsule,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.99615,0.0 +latest,Objacard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,80.47785,0.0 +latest,Objacasing,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.252659,0.0 +latest,Objacassetterecorder,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,41.597818,12.385432 +latest,Objaceramicbirdfigure,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.547901,0.0 +latest,Objaceramicbowl,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,65.573111,37.980649 +latest,Objaceramiccup,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,31.388969,18.555654 +latest,Objaceramicmug,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.823448,0.0 +latest,Objaceramicsculpture,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,52.373227,0.0 +latest,Objachain,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,72.819787,47.543577 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magenta coil spring on base and place it in or on the organic shaped rustic off-white bowl", "object_name": "objacoilspring_5fbce9acb31c4fabb46a7420de72f661_2_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_3654/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3665", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white teacup and place it in or on the teal bowl with matte interior", "object_name": "objateacup_027f9a512d2e49a582290e8a47ae68ed_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_3665/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3698", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red potato and place it in or on the rustic stone bowl with spout", "object_name": "Irishpotato_19394b332cf16c9d218c9f434ecf9c48_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_3698/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3712", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the round transparent dish with scrollwork and place it in or on the ceramic bowl", "object_name": "objadish_acc681f1ed5a4ddcaafd7fa56d83ba6d_1_0_6", "data_file_path": 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on the transparent glass ashtray with faceted edges", "object_name": "objastraightrazor_a595190ce57a41cda01ff84d5c9eeb06_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_3723/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3725", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red glossy popsicle on wooden stick and place it in or on the light gray shallow round bowl", "object_name": "objapopsicle_ea06ce6c179a4676a1e9329f3b7ee127_2_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_3725/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3764", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the round metallic medallion with embossed inscription and place it in or on the textured rustic gray bowl", "object_name": "objamedallion_5a82fc538d6a4e3e892fc154b97db567_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_3764/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3772", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the olive green smoke grenade and place it in or on the brown wooden leaf tray", "object_name": "objahandgrenade_beaf33bc1c6d452697a3773a171a1103_1_0_2", "data_file_path": 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place it in or on the bowl", "object_name": "objapaymentterminal_3e1e65fa70574e4b92cc37120ec03816_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_3775/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3775", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the ornate bronze medallion with design and place it in or on the rectangular plastic organizing tray", "object_name": "objamedallion_de9cffc6f2d740bf822965b56e65eb8d_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_3775/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3794", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the tableware and place it in or on the round gray shallow bowl", "object_name": "objadish_6b1974fb0d09499f9b3af20884c706f5_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_3794/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3839", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the light gray plastic mounting bracket and place it in or on the patchwork ceramic bowl rustic", "object_name": "objamountingbracket_89c52ab7b8f149369c832713bad2203c_1_0_6", "data_file_path": 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"episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue plastic bottle and place it in or on the jade green patterned bowl", "object_name": "objacleaningbottle_45049b8d74a44f239fe1d1403cf98b49_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_3881/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3886", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wooden handle axe and place it in or on the glossy translucent light blue bowl", "object_name": "objahandaxe_ebb899473a5a41649e6cb25f3b27563b_1_0_2", "data_file_path": 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it in or on the round stone bowl with rim", "object_name": "objafoodpacket_58ff4a1e3fb24fbca6989f9b6d1fe23e_2_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_3891/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3898", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the metal hex screw and place it in or on the shallow round bowl with feet", "object_name": "objascrew_477a7178be2b4f709bb4fe2d724f47cf_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_3898/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3911", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wooden house keyholder and place it in or on the beer mug", "object_name": "objakeyholder_7e8733261a034ef5b0302f1ee2fe2554_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_3911/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3916", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the patriotic jet and place it in or on the shallow round bowl with feet", "object_name": "objatoyjet_cd2a4b5fdf9b4b5b83de34c24cec1f56_1_0_2", "data_file_path": 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"Pick up the vintage cast iron clothes iron and place it in or on the glossy golden bowl", "object_name": "objaclothesiron_33751730969346df8aa289d31228f3fb_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_3939/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3944", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green cylindrical smoke grenade with lever and place it in or on the round wooden bowl", "object_name": "objasmokegrenade_d8e89a86fa0c4630b3705222e17cd901_1_0_4", "data_file_path": 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twisted rusty circular metal loop and place it in or on the blue and white ceramic bowl", "object_name": "objametalloop_25c41058e5f24271808b14c0ac40a02a_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_3947/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3954", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the elongated brown potato and place it in or on the shallow bowl with rim", "object_name": "Irishpotato_361f25dfd6f7907d2065fffb6e0c6649_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_3954/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3956", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue bifold wallet with slots and place it in or on the rectangular platform with broad recessed center", "object_name": "objawallet_284753c433144278b333b617615d6b3a_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_3956/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3957", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 115, "task_description": "Pick up the glossy brown goblet cup and place it in or on the simple gray bowl", "object_name": "cup_10a41d8e2f259cb0d60e0069b1683f0a_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_3957/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3961", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the beige calculator with radio and place it in or on the pixelated bowl filled with ramen", "object_name": "objacalculatorradio_d17ba864b7a94eacaa34ee919210ba8d_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_3961/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3969", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the compact black scope and place it in or on the colorful pixelated ramen bowl", "object_name": "objariflescope_78fdc6141bcc4bd483f1c4842ab654b3_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_3969/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3970", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the light beige hand and place it in or on the glossy dish", "object_name": "objahandmodel_60401d040b8c49e4806ef37a1d399cea_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_3970/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3972", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green electronic rectangular display module and place it in or on the round dark bowl", "object_name": "objaelectronicdisplaymodule_37d29ad966cc4f58b81754088e774bd7_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_3972/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3990", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the instrumentation and place it in or on the rusty metal tray with meat", "object_name": "objaopticaldevice_03c6cfba0c13448faef5a7149bf7be86_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_3990/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3991", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue puzzle piece with rainbow clouds and place it in or on the round shallow dish with scrollwork", "object_name": "objapuzzlepiece_8882000196234ce7aefd64b149f3064e_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_3991/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3992", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray and yellow climbing shoe and place it in or on the glossy blue and brown bowl", "object_name": "objaclimbingshoe_6612b1e3ee2b4e08952f6bf2b26bd75a_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_3992/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3993", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black leather collar with spikes and place it in or on the square ashtray", "object_name": "objacollar_5f329a75ab1a4890868ba37061ca3396_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_3993/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_3995", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the can opener and place it in or on the rusty metal tray with powdered meat", "object_name": "objacanopener_59a4d5ccb6cb449ab0b2c6ab2be80d2e_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_3995/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4005", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dslr camera and place it in or on the blue ceramic bottle", "object_name": "objadslrcamera_74868e16ced243c088207e5d7da8c750_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4005/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4008", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the small dark bird figurine and place it in or on the white ceramic mug with handle", "object_name": "objabirdfigurine_2696c895e65a4343871e59d9fbaf121d_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4008/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4013", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red circular stone component and place it in or on the rustic gray stone bowl", "object_name": "objadecorativefixture_03b5e7bf16d14cae92c993152044446f_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4013/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4017", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the beige taco filled with toppings and place it in or on the gray bowl", "object_name": "objadecorativefoodmodel_9c9d11d317814c2085da004146c4917c_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4017/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4021", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue curved brim visor and place it in or on the round black and gray ashtray with notches", "object_name": "objasportsvisor_2fe424987e594148959acafbebe79f41_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4021/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4025", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red and white soup can and place it in or on the white bowl with blue", "object_name": "objacan_e0976ef0e465417a816b142387f41765_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4025/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4030", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white green biofreeze pain relief tube and place it in or on the red and black container", "object_name": "objatube_747652d3308142278b333f1e2ee13549_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4030/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4038", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the shiny brass bullet casing and place it in or on the gray stone bowl", "object_name": "objaammunition_b61e46bd1fa64f54a74c45716ab23979_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4038/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4041", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the yellow kitchen knife and place it in or on the irregular shaped reddish clay bowl", "object_name": "knife_0bc93f198121d33ac4030a34bfc944a4_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4041/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4043", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green bullet with dark brown tip and place it in or on the rustic gray stone bowl with seams", "object_name": "objaammunition_ac0cb85fdde046fc96e11a80a224fe3f_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4043/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4061", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue curved blades and place it in or on the round wooden bowl with grain", "object_name": "objadecorativeblades_49da7278b073450686dec40d5d61f8ef_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4061/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4068", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the curved sleek modern handset and place it in or on the sculptural bowl with earthy texture", "object_name": "objatelephonehandset_0ddfdf35baa6475d9ba001a570eaeebd_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4068/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4079", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the butterfly knife with colorful gradient blade and place it in or on the square pink box with patterns", "object_name": "objabutterflyknife_be05554b77de495ea5e92d3bcb7730fa_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4079/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4085", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the glossy red 3d adventure time text and place it in or on the light brown ceramic bowl", "object_name": "objadecorativetext_55e23bd0f4014b90be7d1a5bc9a69172_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4085/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4086", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the cupcake with frosting and place it in or on the green bowl", "object_name": "objacupcake_dc0c1995690645a4b7016b1c50636bb4_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4086/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4097", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the purple rectangular packet with cupcake image and place it in or on the rustic bowl", "object_name": "objafoodpacket_a784c3ce29d44a899afe3f80a20e4fec_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4097/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4108", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray-purple primitive stone tool and place it in or on the porcelain dish with colorful floral patterns", "object_name": "objastonetool_7e12d60c307948c787db921d89ab484e_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4108/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4108", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the security device and place it in or on the rectangular box with sand", "object_name": "objasecuritydevice_dd640cbe9b2444ecb928d3b5b0e67956_1_0_8", "data_file_path": 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the oval beige stone pendant with leaf and place it in or on the rough gray stone bowl", "object_name": "objapendant_b12437d577704653ae875d817cb89804_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4130/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4132", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the oval ceramic dish with animal and place it in or on the smooth wooden bowl with natural grain", "object_name": "objadecorativedish_6a575ec757024924b9844d85f3afaa1e_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4132/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4133", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue birthday card with fox and rabbit and place it in or on the round handmade rustic earthy bowl", "object_name": "objagreetingcard_5c7029b2edd248cdafcfd33c93ff1728_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4133/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4144", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the realistic pink dentures and place it in or on the green rectangular box with snowflakes", "object_name": "objadentures_db38ff23dc534a8c8d27a1107904ef94_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4144/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4150", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the stylized animal head pendant and place it in or on the tableware", "object_name": "objanecklace_b4d304759a1b49849f84e53a31190c7c_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4150/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4155", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the smooth dark brown wooden goblet and place it in or on the black bowl with colorful grid", "object_name": "objagoblet_2e5243eb355c4b0c90aed7281e93d5a6_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4155/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4155", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black night vision goggles with lenses and place it in or on the small beige bowl", "object_name": "objanightvisiongoggles_11705eaaae174eababc45a53203f59ce_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4155/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4156", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the shiny gold cursive script and place it in or on the dark gray ceramic shallow bowl", "object_name": "objadecorativescript_698f49c7bedb4fc3a5777a9f4edcc5bc_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4156/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4158", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white marble piece with veins and place it in or on the round clay serving dish", "object_name": "objamarblesculpture_969d17f91b324a6c9e0b1d1f649a1463_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4158/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4163", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the movie camera and place it in or on the rustic bowl", "object_name": "objamoviecamera_64bd72851ef349ef9cd24403df1789ad_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4163/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4169", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wooden base telegraph key and place it in or on the tan bowl with dark patterns", "object_name": "objatelegraphkey_f63e60ed88ca405790c0c5aef3e03dfc_2_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4169/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4174", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the swiss cheese and place it in or on the irregular shaped reddish clay bowl", "object_name": "objacheese_150156b49a984e5d9c0e672894da5a3e_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4174/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4174", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rubber mallet and place it in or on the ornate red box", "object_name": "objarubbermallet_2de2cbb69ad44bc3ae2e01eacce9f174_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4174/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4190", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the geometric blue butterfly and place it in or on the black matte cooking pot with handles", "object_name": "objadecorativebutterfly_a6073d8c8b454928bad247c294a57416_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4190/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4205", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the teacup and place it in or on the ceramic bowl filled with rice and peas", "object_name": "objateacup_ccc2c0af285d479b8c5961d3c678aefc_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4205/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4213", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the ace card and place it in or on the rustic shallow clay bowl", "object_name": "objaplayingcard_c57676d9c0444741baf5a1154af6bc9b_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4213/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4223", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the twist bit and place it in or on the bright insect design bowl", "object_name": "objadrillbit_977b1e30dac346c09e5ba28fe3b19fd3_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4223/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4223", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the sleek white dual electrical socket and place it in or on the gray bowl", "object_name": "objaelectricalsocket_7c05b98d60884e12aa05ae00feda5bbe_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4223/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4231", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the metal adjustable wrench and place it in or on the rustic terracotta bowl", "object_name": "objaadjustablewrench_920576578b384b27b5c3e9bf36220c88_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4231/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4236", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rectangular digital watch metallic and place it in or on the rustic round ceramic bowl with patterns", "object_name": "objawristwatch_189f8a498b074e28a2b37a099d57fb2b_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4236/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4255", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the pale stone tool with jagged edges and place it in or on the maroon rectangular box with patterns", "object_name": "objastonetool_0d64f72ecbea4c5fb37b0a41f6f458d5_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4255/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4256", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the sleek beige canon camera and place it in or on the polished wooden bowl with contrast", "object_name": "objadigitalcamera_8b7daba1ebb641448a316946a6dc1837_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4256/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4258", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the glossy green beetle and place it in or on the rectangular glossy metal tray cut-out", "object_name": "objadecorativeinsect_3d87721214d44cc6986677a844c80499_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4258/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4260", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage minerva stopwatch beige and place it in or on the shallow wooden bowl", "object_name": "objastopwatch_ab795908c0874284a01556b71ac8f34a_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4260/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4270", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the olive scalloped ceramic plate and place it in or on the round metallic bowl with patina", "object_name": "plate_ac19ca22ae10d8179cdc8dc68e02072d_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4270/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4289", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wooden top and place it in or on the light ashtray", "object_name": "objaspinningtop_c1badded9748431db08a9c969d3fea5e_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4289/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4290", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray train and place it in or on the dark teal box", "object_name": "objatoytraincar_c5f7b90d80aa4ae18100ed5616179406_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4290/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4292", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white cylindrical lattice patterned ring and place it in or on the red and black chicken food container", "object_name": "objadecorativering_f1c609d000e74dcd96fb8b083db2db9c_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4292/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4295", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark gray metal shackle with orange pin and place it in or on the red clay bowl with zigzag pattern", "object_name": "objashackle_f04582e626ee4b09b5b870a2730d12b7_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4295/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4295", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the keypad and place it in or on the gray rough textured bowl", "object_name": "objasecuritykeypad_e3e26581572f467d84958a12d6305aae_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4295/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4303", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage beige computer keyboard with keys and place it in or on the crockery", "object_name": "objacomputerkeyboard_51f63167c849450a89b65fcd7d81e8f7_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4303/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4303", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the metallic green pliers and place it in or on the rustic ceramic bowl", "object_name": "objaneedlenosepliers_0079418517784f2bbf0aec6fd8de3cde_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4303/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4316", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 368, "task_description": "Pick up the vibrant flower bouquet and place it in or on the black bowl with colorful grid", "object_name": "objabouquet_8dab593c78374d59abcf66c8185249cb_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4316/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4322", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the securitykeypad and place it in or on the gray bowl", "object_name": "objasecuritykeypad_e3e26581572f467d84958a12d6305aae_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4322/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4329", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red swiss knife and place it in or on the weathered rustic bowl", "object_name": "objaswissarmyknife_9a1047f51ca5495f9ddfe3c024a1d8cd_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4329/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4334", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the polished metal door lock and place it in or on the rectangular box with patterned lid", "object_name": "objadoorlock_3d56a40e1bae492b89072f71651d2d63_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4334/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4334", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the pink wand with red sphere and place it in or on the rectangular box with patterned lid", "object_name": "objadecorativewand_612582bc490a4353ba468a9839bf9119_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4334/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4341", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red glossy popsicle on stick and place it in or on the round wooden bowl", "object_name": "objapopsicle_ea06ce6c179a4676a1e9329f3b7ee127_2_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4341/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4346", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the smooth cylindrical wooden rod and place it in or on the patchwork ceramic bowl rustic", "object_name": "objawoodenrod_93e71d2e393c4992a3bf47eb1fc7e3f7_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4346/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4347", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the light gray plastic mounting bracket and place it in or on the translucent white smooth plastic bowl", "object_name": "objamountingbracket_89c52ab7b8f149369c832713bad2203c_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4347/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4350", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray sword with blue and brown hilt and place it in or on the sculptural bowl with earthy texture", "object_name": "objatoysword_34640d52951443888e0bb0dc99f993c5_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4350/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4357", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the purple octopus with tentacles and place it in or on the round light ashtray", "object_name": "objadecorativesculpture_b277500749914c1b966438f679587a3d_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4357/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4359", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the cheesecake and place it in or on the red and black chicken food container", "object_name": "objacheesecake_f656e887c0844a23aa5df47eaf76d63e_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4359/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4365", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the brown high-top sneaker with zipper and place it in or on the ceramic bowl", "object_name": "objasneaker_a1800b2df030447c93a892c85c8af8ef_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4365/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4370", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray shackle with orange hex pin and place it in or on the brown rectangular basin", "object_name": "objashackle_d956a23797094d87aa85c1a139c15d68_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4370/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4372", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the smooth medium red apple with stem and place it in or on the green bowl", "object_name": "apple_3076d24521ee5e895156b37b1b9fb130_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4372/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4374", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the purple candy wrapper with lighthouse design and place it in or on the blue bowl", "object_name": "objacandywrapper_4a0fdf73d0474d778fd65ba220f50a71_2_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4374/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4375", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the ten of clubs card and place it in or on the round dish", "object_name": "objaplayingcard_dad48ec229b640449d29ffc14d5eadbf_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4375/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4375", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the citrus fruit and place it in or on the round shallow dish with scrollwork", "object_name": "objafruit_b618ea230ab04d9c8804eebe766a6426_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4375/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4382", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rectangular rough gray stone block and place it in or on the oval pet bowl", "object_name": "objastoneblock_7a500b5f08d349f09cb3855ed029e6fa_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4382/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4383", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the brown potato and place it in or on the round gray handmade shallow bowl", "object_name": "Irishpotato_19522f313a33f0a662dcc0b1aa19547c_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4383/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4384", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the purple card with snowman drawing and place it in or on the asymmetrical ceramic bowl with blue-green glaze", "object_name": "objagreetingcard_99d51751c64749d68d8da3903cb45194_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4384/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4390", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the light decorative molding piece with pattern and place it in or on the rectangular box with patterned lid", "object_name": "objadecorativemolding_e8abdfe4286045ae8262f9122ad077a9_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4390/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4403", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the beige envelope with red wax seal and place it in or on the shallow round bowl with feet", "object_name": "objadecorativeenvelope_303b287819a84f7496bd92f5d69710c7_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4403/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4404", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gold foil chocolate bunny with ribbon and place it in or on the rustic off-white handmade bowl", "object_name": "objachocolatebunny_3fd78d69b770429a8a680caaa65e57e8_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4404/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4406", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue pcb with black chip and connector and place it in or on the beige bowl", "object_name": "objaprintedcircuitboard_dd07a5351c854a02bb6def55164023dd_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4406/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4411", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rectangular wooden luggage tag with engraving and place it in or on the smooth silver bowl", "object_name": "objaluggagetag_8564a22483104f8aac76a02c12db952a_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4411/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4423", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wooden mannequin hand peace and place it in or on the rustic brown bowl with texture", "object_name": "objamannequinhand_9507be033ab14d248bc3479e16927993_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4423/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4425", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black honeycomb wave structure with hinge and place it in or on the brown rustic ceramic bowl", "object_name": "objadecorativeelement_4b009fce74c64110b521f91692a4867f_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4425/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4429", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gaming mouse and place it in or on the gray bowl", "object_name": "objagamingmouse_c7a1a915a0a44a128f9e91e0be1a2316_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4429/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4433", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the mounting bracket and place it in or on the red clay bowl with zigzag pattern", "object_name": "objamountingbracket_39d9fb9c81b84ac0a0410235c8c85319_2_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4433/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4433", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the cream ceramic sugar bowl and place it in or on the red clay bowl with zigzag pattern", "object_name": "objasugarbowl_9b683d621e1b4ca384050d16215b1f5b_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4433/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4439", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rustic wooden lemon squeezer and place it in or on the light gray ceramic bowl shallow", "object_name": "objalemonsqueezer_5679cddc744c4f39b731890788405de6_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4439/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4441", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue rectangular paper ticket with string and place it in or on the antique rustic metal bowl", "object_name": "objaticket_c57b100f3adc47ef8c8432c090ac770f_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4441/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4455", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue braided rope toy and place it in or on the rustic clay bowl", "object_name": "objapettoy_c45af57d9a3c47a58da36db2a5d425dd_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4455/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4465", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white rectangular box with blue text and place it in or on the rustic brown coconut bowl", "object_name": "objamedicinebox_062a5843f2214b5ebf9c90273f803e16_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4465/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4484", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the irregular charred wooden fragment and place it in or on the patchwork ceramic bowl rustic", "object_name": "objawood_ae78ba7e73fc4c47a99f4cde24adc46f_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4484/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4493", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red rectangular novelty license card and place it in or on the round ceramic bowl with floral patterns", "object_name": "objanoveltycard_8e6f2b6b96e24c6096116eb97376abff_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4493/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4500", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the hollow gradient gender symbol with cross and place it in or on the glossy ceramic bowl hemispherical", "object_name": "objasymbol_5742a3cd3a124f88bb061418ddc6db2b_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4500/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4502", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green cup with cranes and place it in or on the small teal box with heart", "object_name": "objaceramiccup_dde060cbc53a40e2ba7ca9353c21fe91_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4502/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4505", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the small yellow and black bird and place it in or on the round frosted glass bowl with interior", "object_name": "objabird_5a91277584a645ac85029d4f7342b742_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4505/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4505", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the metallic sleek blade and place it in or on the ceramic bowl", "object_name": "objadecorativeblade_c38337ff48c9480788b04c3afa7464a9_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4505/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4507", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue glossy ceramic vase, rounded and place it in or on the tray", "object_name": "vase_485850bef5e28630dd1156aaec2e3528_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4507/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4511", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue glossy sign with rounded letters and place it in or on the round dark stone bowl", "object_name": "objadecorativetext_452e73c35de349d394a7592fdc0200e6_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4511/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4512", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the robust metal door lock mechanism and place it in or on the patchwork ceramic bowl rustic", "object_name": "objadoorlock_3d56a40e1bae492b89072f71651d2d63_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4512/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4532", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the triangular off-white artifact and place it in or on the blue pot", "object_name": "objaartifact_787b8c3a105a484681d6f6258099cca5_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4532/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4540", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the small beige clay tablet with engravings and place it in or on the ceramic bowl", "object_name": "objaclaytablet_6f3cd26177eb4f679f06286bb6a2f304_2_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4540/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4545", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black and green ergonomic screwdriver and place it in or on the round gray handmade shallow bowl", "object_name": "objascrewdriver_240935915a744929914369cc12816ab2_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4545/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4549", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the means and place it in or on the round textured bowl", "object_name": "objalever_5d821ac7148240c092c4face44c1d096_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4549/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4550", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the purple spray bottle with nozzle and place it in or on the gray rough textured bowl", "object_name": "atomizer_973bce9435d852757b03afc168e4c1df_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4550/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4551", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dried fish and place it in or on the shallow round bowl with feet", "object_name": "objadriedfish_b94ddf2091234161818b07461044cb2f_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4551/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4556", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white remote control with yellow button and place it in or on the rustic round gray clay bowl", "object_name": "objaremotecontrol_f14da6318f904052920e78b9bb1a19ef_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4556/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4561", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the sleek black rectangular external drive and place it in or on the gray oval pet bowl", "object_name": "objaexternalharddrive_65f3fd1fc6e440459aaade5c28028f53_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4561/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4561", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the large white tooth and place it in or on the medium dark metal cooking pot", "object_name": "objatooth_4ec84bfdbbec4663b9a730ef943e0768_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4561/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4572", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red brick patterned torus ring and place it in or on the blue ceramic pot with colorful face", "object_name": "objadecorativering_34fefad109df4779891b57164c5e2106_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4572/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4580", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red wall-mounted fire connection with caps and place it in or on the woodeowl", "object_name": "objafiredepartmentconnection_b4946020065141e5b994e0ca5ed23882_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4580/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4584", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark metal container with label and place it in or on the rustic round clay dish with handles", "object_name": "objavintagecontainer_1681199327f545f6bebc94b7408769ed_2_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4584/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4600", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the yellow kitchen knife with blue bolster and place it in or on the black bowl with grid", "object_name": "knife_2933d9425c8587a7d4ddaae661ac7598_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4600/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4613", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black spiked collar and place it in or on the shallow ceramic bowl with foot", "object_name": "objacollar_5f329a75ab1a4890868ba37061ca3396_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4613/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4613", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white marker with red bands and place it in or on the shallow round wooden bowl with texture", "object_name": "objamarker_be34b3e0b8e44511b6c3bccb76a472d2_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4613/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4615", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the broad metal trowel with cylindrical handle and place it in or on the shallow wide gray ceramic bowl", "object_name": "objatrowel_41e5faac18994f0b9f14a515e9662354_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4615/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4618", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the ankle boot and place it in or on the metal rectangular tray", "object_name": "objashoe_60bc124848d642d49f3ffa9fcdea16b8_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4618/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4619", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the golden metallic laurel wreath headpiece and place it in or on the smooth gray bowl", "object_name": "objaheadpiece_2d4d3d4f56d345bcaafdf60a5a19741f_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4619/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4634", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white toilet roll and place it in or on the place receptacl 0", "object_name": "objatoiletpaper_903ed803932340b19104cf5232c5dcc4_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4634/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4636", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the toilet roll and place it in or on the white ceramic mug", "object_name": "objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4636/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4640", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black grenade with graffiti and place it in or on the brown medical case", "object_name": "objagrenade_2bf43075c62749e28e1a8c2f0d766c67_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4640/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4641", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the ancient greek kylix with artwork and place it in or on the stone bowl with crystals", "object_name": "objakylix_d9cc347595664f83bc1461c857756452_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4641/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4644", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the creamy ice cream with sprinkles and place it in or on the decorative maroon floral box", "object_name": "objaicecreamcone_cc5e3d70ebba4215890504ea311252ba_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4644/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4661", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red walkie-talkie with antenna and place it in or on the earth map bowl", "object_name": "objawalkietalkie_8b08a40f337644cb8ceef52be1eb824f_1_0_6", "data_file_path": 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grenade and place it in or on the white ceramic bowl with chicken salad", "object_name": "objagrenade_d61768fbc7494143bb87852c36d1beaa_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4682/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4686", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage wooden razor with blade and place it in or on the round wooden bowl with grain", "object_name": "objastraightrazor_a595190ce57a41cda01ff84d5c9eeb06_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4686/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4691", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the transparent cup with straw and place it in or on the dark shallow bowl", "object_name": "objabeveragecup_398d3a50f3e7446d980275f5b52c99a4_2_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4691/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4692", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the conical soap bottle with pump and place it in or on the white bowl with textured facets", "object_name": "soapdispenser_e2340594c344cded466620d23f003e8a_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4692/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4698", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the sleek glossy curved plastic eyeglass frame and place it in or on the teal bowl", "object_name": "objaeyewearframe_a4b712ccca9740d4970a09a54731d812_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4698/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4702", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gold foil chocolate bunny with ribbon and place it in or on the brown wooden leaf tray", "object_name": "objachocolatebunny_3fd78d69b770429a8a680caaa65e57e8_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4702/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4705", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the slender wooden handled awl and place it in or on the container", "object_name": "objahandtool_61b9c84deee940f1bf2c6125f96c40e5_1_0_2", "data_file_path": 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rectangular vintage metal storage tin", "object_name": "knife_8409451f726b7f0640a91ddd7ae630cf_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4707/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4710", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the spring and place it in or on the round wooden bowl", "object_name": "objaspring_310f124af29745708b5393d7197d6fd5_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4710/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4715", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wooden beaver holding stick carved and place it in or on the colorful ceramic bowl with bird", "object_name": "objawoodencarving_6589b07c9b2d49778e08d7e6110c04c6_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4715/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4723", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the terracotta owl vessel with spout and place it in or on the golden bowl", "object_name": "objavessel_8bd6e267f265481682e17f696b201103_1_0_8", "data_file_path": 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toy soldier with rifle and place it in or on the green bowl", "object_name": "objatoysoldier_966ecae1911843adbf05131eeb7c63cb_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4727/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4727", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue sponge and place it in or on the blue cooking pot with handles", "object_name": "objacleaningsponge_afd092fac12f4ef8984b80d3d15de232_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4727/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4728", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintageiron and place it in or on the round terracotta dish with handle", "object_name": "objavintageiron_187871edbc5e40d8a75a4b654ce32146_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4728/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4738", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the folded origami paper crane and place it in or on the round gray ceramic bowl", "object_name": "objaorigamicrane_1455ff78988c49d380161281102ee908_1_0_4", "data_file_path": 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or on the round gray ceramic bowl", "object_name": "objainsect_b6dbcdac7cc34379b22ff3099fa4bf5a_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4745/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4747", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the round dark hanging pot with kernels and place it in or on the translucent smooth glass conical bowl", "object_name": "objahangingpot_079f67e3d21b4559a5ef90f538d130ab_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4747/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4749", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green plastic mount and place it in or on the round dark bowl", "object_name": "objamount_b44ed71003e149cc98576162a09d588c_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4749/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4750", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the compact black and white midi keyboard and place it in or on the ceramic rustic bowl", "object_name": "objamidikeyboard_d5391486d5aa4d6aa54777beecd49534_1_0_3", "data_file_path": 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the wooden sculpting tool and place it in or on the rustic round ceramic bowl with patterns", "object_name": "objasculptingtool_f7f0c3b473e049aa84d9251793113418_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4764/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4765", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the cylindrical tape with zigzag pattern and place it in or on the shallow beige ceramic bowl with cracks", "object_name": "objadecorativetape_a6bece29c668474c8a01a368941f0e9a_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4765/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4773", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the digital music player and place it in or on the rustic bowl", "object_name": "objadigitalmusicplayer_718d4a2a12e8402faa7af85890acb08c_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4773/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4781", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the ornate bronze bell with claw base and place it in or on the transparent glass ashtray with faceted edges", "object_name": "objadecorativebell_82a59a8d2fed401ea8a9681ce7cfc3b0_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4781/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4783", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the disk and place it in or on the round bowl with dark band", "object_name": "objadisc_5766095a480e444da6185a24f8f17840_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4783/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4783", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the classic orange twin-bell alarm clock and place it in or on the jade green patterned bowl", "object_name": "objaalarmclock_71ab3427ad1142718af2ee8feb85c5fd_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4783/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4786", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the digitalcamera and place it in or on the tray", "object_name": "objadigitalcamera_6149eddd5e0c4cf4a7dcd55bf6d4a4e7_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4786/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4788", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the lighter and place it in or on the decorative ceramic bowl", "object_name": "objalighter_5107e0007fdc4ed08be3f35aff7e5bb2_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4788/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4788", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the ceramic floral sugar bowl with handles and place it in or on the green bowl", "object_name": "objasugarbowl_4cd9d4a7727c440f9b1bff2384bac433_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4788/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4792", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black rubber air blower and place it in or on the tan bowl with dark patterns", "object_name": "objaairblower_c1894126b3394345835758d674b7435e_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4792/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4796", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue and white carton and place it in or on the metallic tray", "object_name": "objabeveragecarton_55d0a4c01b9e4a2cab8112162ea61cfb_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4796/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4798", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wooden rod and place it in or on the round shallow rustic bowl", "object_name": "objawoodenrod_bdf07f6c648b4d74af80ea7103ac384c_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4798/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4802", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the ceramic bird figure and place it in or on the sleek metallic tray with edges", "object_name": "objaceramicbirdfigure_182ce75662ca4a98bc00e54a43dfef4e_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4802/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4803", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the glass eye and place it in or on the rectangular platform with recessed center", "object_name": "objadecorativeeye_9d390baaeec94960808345f88af56997_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4803/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4807", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the slender wooden stick with markings and place it in or on the rectangular plastic tray with slot", "object_name": "objawoodenstick_1bd5fecf74bf4cdb987da156d2c0ac96_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4807/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4809", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rectangular black guitar effects pedal and place it in or on the white bowl with facets", "object_name": "objaguitareffectspedal_083eb9b9eb564701820d3a79377c77ce_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4809/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4815", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the metal mechanical clamp with cable arms and place it in or on the rectangular metallic tray", "object_name": "objamechanicalclamp_c1a3633d2e274d369c0e3c4711957a17_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4815/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4819", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 427, "task_description": "Pick up the gray handheld tool with grip and place it in or on the green military box", "object_name": "objahandheldtool_a4d19db995b5462ebf75c3d9aa9c8d25_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4819/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4836", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red u-shaped magnet and place it in or on the rectangular box with patterned lid", "object_name": "objamagnet_d2d922add236472ea43a39de0d739755_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4836/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4837", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the pink smooth bowtie and place it in or on the blue pot", "object_name": "objabowtie_09095656ad6243c08d4efdf20e43de8d_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4837/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4837", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the sleek black stylus and place it in or on the irregular shaped reddish clay bowl", "object_name": "objastylus_afd41dae770041319dec594ab1d3df79_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4837/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4847", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the pink grooved candle on green holder and place it in or on the smooth shallow light brown bowl", "object_name": "candle_ef48126e155d4ed0804b46d4b3a42ca2_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4847/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4856", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red arrow object and place it in or on the round terracotta dish with painted motifs", "object_name": "objadecorativearrow_bdc5664a76f74806b5ae78dd7793fbef_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4856/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4857", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the steam iron and place it in or on the textured ceramic bowl with colors", "object_name": "objasteamiron_7dc6eeb22d424534b45783fbe997b302_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4857/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4860", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the glossy orange oval metal ring and place it in or on the frosted glass bowl", "object_name": "objametalring_43d9083d869849ed9a6f6c8cbdd7ad54_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4860/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4870", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the creamy beige candle and place it in or on the round black and gray ashtray", "object_name": "objacandle_a4849fae6e164623a7883695426daa50_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4870/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4871", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the cylindrical tape with zigzag pattern and place it in or on the rustic bowl", "object_name": "objadecorativetape_a6bece29c668474c8a01a368941f0e9a_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4871/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4880", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wooden rectangular stamp with text and place it in or on the gray bowl", "object_name": "objastamp_34a49861e7744acfb71de471a755e917_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4880/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4900", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the polished smooth golden circular ring and place it in or on the rustic terracotta bowl", "object_name": "objaring_c20681970f3f4e449aeec50291be17b1_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4900/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4904", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the pink torii gate and place it in or on the round small beige bowl", "object_name": "objaminiaturetoriigate_4d32377790044e12b31f4363f1bab859_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4904/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4909", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the pink popsicle and place it in or on the glossy hemispherical bowl with earth map", "object_name": "objapopsicle_d6caf34a19354df890e60be6786de20c_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4909/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4916", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray rectangular dispenser and place it in or on the teal bowl with matte interior", "object_name": "objadispenser_dae48a392c5a4f3aa00235e664ee7d4d_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4916/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4933", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage metal lever on dark wooden base and place it in or on the blue decorative ceramic bottle", "object_name": "objatelegraphkey_152bc6ed25b14945b6ff62a60f446334_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4933/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4947", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the pliers and place it in or on the bowl", "object_name": "objaneedlenosepliers_0079418517784f2bbf0aec6fd8de3cde_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4947/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4953", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wooden sculpting tool and place it in or on the shallow wide terracotta bowl", "object_name": "objasculptingtool_f7f0c3b473e049aa84d9251793113418_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4953/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4954", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the robust metal door lock mechanism and place it in or on the rustic brown coconut bowl", "object_name": "objadoorlock_3d56a40e1bae492b89072f71651d2d63_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4954/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4954", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the thin white electronic display showing promotion and place it in or on the rustic brown coconut bowl", "object_name": "objaelectronicdisplay_39fdfa7c14a640b58a5ff5e47a1af37c_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4954/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4960", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the teal rectangular speaker and place it in or on the matte dark gray ceramic bowl", "object_name": "objabluetoothspeaker_8280c95c7e1f413489cf7e52db89bf93_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4960/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4965", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the tall dark cup and place it in or on the hand-painted insect bowl", "object_name": "cup_56edd85aeab4ab58cc2b44e71d5e86bf_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4965/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4976", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rectangular metal plate mount and place it in or on the light gray wooden bowl with rim", "object_name": "objametalplate_e75a595288164529bbcbc11cdfb7df15_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4976/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4978", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black spray can and place it in or on the round dark stone bowl", "object_name": "objaspraypaintcan_0adc4e0dd1344d91a71a1597933db68e_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4978/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4978", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rusty spray paint can with blue and place it in or on the medium dark cooking pot with handles", "object_name": "objaspraypaintcan_9e725e49c0074fc0a1a08cacc85ee898_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4978/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4980", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rectangular card with squid illustration and place it in or on the white mug", "object_name": "objacard_ed4f37ab0ac84610bace2bbecabcef4c_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4980/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4982", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wing screw and place it in or on the smooth gray ceramic bowl for food", "object_name": "objahandle_a168ec0564fb4a1e98caadee6866be28_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4982/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4983", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wooden gavel and place it in or on the decorative bowl", "object_name": "objagavel_2ae6147628c04ac7a28bfe2b5982b4c3_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4983/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4986", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the pixelated wooden hourglass and place it in or on the gray bowl", "object_name": "objahourglass_e278f37f71ac4e2e980c6ef53899c2d7_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4986/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4999", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark wooden handle handbell and place it in or on the ornate red box", "object_name": "objahandbell_2ad2c9631a83455c9ec767a404d018df_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4999/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_4999", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the adjustable metal wrench with handle and place it in or on the ornate red box", "object_name": "objaadjustablewrench_ae5c3481f14d4683a319667717d65352_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4999/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5002", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the servicebell and place it in or on the rustic round clay dish with handles", "object_name": "objaservicebell_fc203fd849ea46f0b84d4843ba1aafcd_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5002/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5004", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black leather collar with spikes and place it in or on the round gray bowl", "object_name": "objacollar_5f329a75ab1a4890868ba37061ca3396_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5004/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5004", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the pink stylized fish with white spot and place it in or on the light gray shallow round bowl", "object_name": "objafish_a7e1f30e664a4db18ecea3c6ffb0a90c_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5004/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5006", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white rectangular domino piece with dots and place it in or on the square pink geometric box", "object_name": "objadomino_c97ea56f249340cea90c4f66e84108dc_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5006/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5009", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the smooth white ceramic serving bowl and place it in or on the wooden box", "object_name": "bowl_78149002af9123140d89c62daea42a75_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5009/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5013", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gavel and place it in or on the blue ceramic bottle", "object_name": "objagavel_baa1dde4878b41599636183f29692ac7_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_5013/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5019", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black handgun and place it in or on the decorative porcelain dish", "object_name": "objatoygun_b7faa9ff7e214e678e7e5523afdd6356_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5019/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5020", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray shackle with orange pin and place it in or on the tan decorative bowl", "object_name": "objashackle_d956a23797094d87aa85c1a139c15d68_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5020/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5023", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black rectangular network switch and place it in or on the round bowl", "object_name": "objanetworkswitch_94d0fae6892d48399d1a42a4313c0184_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5023/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5045", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the brown preserved bird and place it in or on the blue ceramic pot with colorful face", "object_name": "objataxidermybird_843000ec4e604edbaa76946cd1a89501_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5045/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5048", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the printedcircuitboard and place it in or on the smooth gray bowl", "object_name": "objaprintedcircuitboard_0c1eb50df8de4c2d9d4d694014204d86_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5048/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5048", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blocky pixelated green soldier and place it in or on the smooth gray bowl", "object_name": "objatoysoldier_8f055c6314cd4e6cb1f4236d145f5179_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5048/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5057", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 203, "task_description": "Pick up the purple and yellow wand and place it in or on the blue cooking pot with handles", "object_name": "objatoywand_2faf794f6078454592c6686acddc17b0_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5057/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5059", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the ornate hand mirror and place it in or on the blue cooking pot", "object_name": "objahandmirror_a3348d3e4a674350af738e8cf20ec378_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5059/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5059", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black metal scope mount with knob and place it in or on the small wooden box with metal latch", "object_name": "objascopemount_97d5328f85dd40cfaec1aed7a00164f3_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5059/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5068", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the six of clubs card and place it in or on the off-white bowl", "object_name": "objaplayingcard_76e975ae10fb435da53120fb7d8bf835_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5068/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5075", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the angled lever with stone base and place it in or on the brown bowl", "object_name": "objalever_5d821ac7148240c092c4face44c1d096_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5075/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5096", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the purple ocarina and place it in or on the round gray handmade bowl", "object_name": "objaocarina_46450ccd99c6486f8b25e94e1bc8646e_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_5096/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5097", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the yellow chicken package and place it in or on the brown wooden leaf tray", "object_name": "objafoodpackage_b33ef62be6564684ac8ba70c41cccc07_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5097/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5115", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the olive-green spray can and place it in or on the rustic round ceramic bowl", "object_name": "objaspraycan_e9c031fbf1bd451998676923027e296a_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5115/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5116", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the cine-camera and place it in or on the round shallow small beige bowl", "object_name": "objamoviecamera_64bd72851ef349ef9cd24403df1789ad_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5116/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5128", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rusty tool and place it in or on the round wooden bowl with grain pattern", "object_name": "objahandtool_7985f67d4f204df78904cd50b73cbf0f_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5128/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5132", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wooden handled tool and place it in or on the glossy ceramic bowl", "object_name": "objaawl_a001d9c9ea68400d9e57893975d3d39d_2_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5132/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5134", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the metal emblem with eagle and wings and place it in or on the bowl with rice and peas", "object_name": "objaemblem_d946fb54e46e4db7979bbb6fcf65fc32_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5134/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5142", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red beaded ornament and place it in or on the green rectangular box with snowflakes", "object_name": "objadecorativeornament_08adaa9d4e484e8da7131775db77ac78_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5142/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5142", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white green biofreeze pain relief tube and place it in or on the colorful pixelated ramen bowl", "object_name": "objatube_747652d3308142278b333f1e2ee13549_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5142/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5153", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the light stone floral molding and place it in or on the shallow round wooden bowl", "object_name": "objadecorativemolding_4702dc29dd224b26a66e95b408e5ce85_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5153/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5160", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white sneaker with cherries and stripes and place it in or on the rustic vintage metal tin", "object_name": "objasneaker_14ee7c51811d4661aeba588851bafd7c_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_5160/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5161", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the compact olive green emergency radio and place it in or on the glass bowl", "object_name": "objaemergencyradio_875d6d844ced424bb9eaa5659ef888ac_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5161/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5164", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the moka pot and place it in or on the blue pot", "object_name": "objamokapot_eb0d9a02bb39465e95d82e84dd86a654_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5164/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5165", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the kendama with purple ball and place it in or on the smooth gray medium bowl", "object_name": "objakendama_66f39ae4147c4fe2ae6d80baf2472e15_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5165/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5169", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the t-shaped metal pipe cutter and place it in or on the round frosted glass bowl with interior", "object_name": "objapipecutter_9113b144802144b683d8db86f7d7388c_2_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5169/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5173", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wedge of yellow cheese with holes and place it in or on the dark gray bowl", "object_name": "objacheese_150156b49a984e5d9c0e672894da5a3e_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5173/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5173", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark vintage iron nutcracker and place it in or on the blue and white ceramic bowl", "object_name": "objanutcracker_94c36df60580408ea582ad83c55cdca0_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5173/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5174", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the pulp-free orange juice carton and place it in or on the brown wooden leaf tray", "object_name": "objabeveragecarton_61219208844744ada5df6dadcb876a3d_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5174/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5178", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the cream beetle with black horns and place it in or on the rectangular platform with recessed center", "object_name": "objabeetle_a6f2a6fe7a3c4d19831f1bd79d664dcc_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5178/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5178", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the colorful mosaic tile in stone and place it in or on the white ceramic mug with handle", "object_name": "objamosaicfragment_780cc0fe43954935b548b72e5c9e129d_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5178/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5182", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the miniature stone tower with windows and place it in or on the maroon floral box", "object_name": "objaminiaturetower_0780a7e5369442c3967681084a046588_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_5182/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5182", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the ornate bronze medallion with design and place it in or on the stone bowl", "object_name": "objamedallion_de9cffc6f2d740bf822965b56e65eb8d_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_5182/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5185", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the yellow vase and place it in or on the brown wooden leaf tray", "object_name": "vase_0db9e9dc4d41a9e8ceaa58f142da5baa_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5185/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5189", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the glossy black sign with pink and place it in or on the rough gray bowl", "object_name": "objasignage_2bf2a240a54742d194cd7e33e7c4c747_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5189/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5197", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red bowtie with white polka dots and place it in or on the porcelain dish with colorful floral patterns", "object_name": "objabowtie_a3f9109d67fe429aa527428dcdac1c6e_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_5197/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5208", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the telegraph key and place it in or on the tan bowl with dark patterns", "object_name": "objatelegraphkey_152bc6ed25b14945b6ff62a60f446334_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5208/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5218", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the partially burned white candle and place it in or on the glossy brown ceramic bowl with swirls", "object_name": "objacandle_d6c8730447ce4ddfb6c5b72609216476_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5218/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5219", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray aerosol can with nozzle and place it in or on the round brown bowl", "object_name": "objaaerosolcan_d31366b00ec64a42a05c1eb8a49f346c_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5219/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5232", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white rectangular domino piece and place it in or on the sculptural bowl with earthy texture", "object_name": "objadomino_c97ea56f249340cea90c4f66e84108dc_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5232/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5237", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the yellow corn cob with green husk and place it in or on the round metallic bowl with patina", "object_name": "objanoveltyitem_0ca62a91b19e49f6a832ab83806066a8_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5237/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5242", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the yellow handheld gps with antenna and place it in or on the green striped bowl", "object_name": "objagpsdevice_5ec82b191b4d44b299cb1fcea0308296_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5242/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5262", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray ring with colorful spheres and place it in or on the white bowl with liquid soup", "object_name": "objadecorativering_73d4f9433c2649d0bb702f46c01c3d9a_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5262/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5266", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage desk calendar with handle and place it in or on the gray smooth bowl", "object_name": "objadeskcalendar_836acbc9b70a457e8619491240f72bbb_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_5266/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5281", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the speckled white ceramic mug with handle and place it in or on the light brown bowl", "object_name": "objaceramicmug_a194e0482994495983f6e46559a76600_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5281/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5281", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the chicken costume figure and place it in or on the light brown ceramic bowl", "object_name": "objacostumefigure_0bd37fcf74214be0b2e0b8d1b4105aea_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5281/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5283", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the sleek modern juicer metal and place it in or on the green rectangular box with snowflakes", "object_name": "objajuicer_d5d126549f254e21bfc1200eac7a38f1_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5283/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5287", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the orange brush and place it in or on the irregular shaped reddish clay bowl", "object_name": "objabrush_f8f0d72e40d24bf8afa4b0157cbcb7c7_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5287/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5291", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the small green baking packet and place it in or on the rustic stone bowl with bird spout", "object_name": "objafoodpacket_58ff4a1e3fb24fbca6989f9b6d1fe23e_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5291/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5297", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the triangular golden chain with links and place it in or on the shallow ceramic dish with handle and pattern", "object_name": "objadecorativechain_920dd47d98484df4a23b8dee1b378c6a_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5297/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5314", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the realistic yellow lemon with sticker and place it in or on the jade green patterned bowl", "object_name": "objalemon_4ee454c08f5c45a7ac12ffd484c6ec14_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5314/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5320", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the compact blue fiber cleaver and place it in or on the round wooden bowl with grain", "object_name": "objafibercleaver_1b640217473f40508802bc5a114f876d_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5320/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5323", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the matte dark gray cylindrical suppressor and place it in or on the glossy marbled gray bowl", "object_name": "objasuppressor_03d3fab9cfb94bdfa9fcf0eff0eb1b75_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5323/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5327", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black futuristic key with card suits and place it in or on the rectangular vintage metal storage tin", "object_name": "objakey_c8d91352967841109fc5b30c604d90e0_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_5327/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5340", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the intricate brown carved ocarina and place it in or on the gray bowl", "object_name": "objaocarina_dedd2ab83a78404085dd2168d511d9b0_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5340/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5359", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wooden corkscrew and place it in or on the round small beige bowl", "object_name": "objacorkscrew_63c8864e17844947b75f6cd32d8e5224_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5359/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5361", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the medium light brown rough potato and place it in or on the rough gray bowl", "object_name": "Irishpotato_e1aace659043c0d77e47a9e124a3b2b8_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5361/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5384", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage folding camera and place it in or on the rustic round gray clay bowl", "object_name": "objavintagecamera_0e0b88c0baf8434fbd236ee93dc8d107_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5384/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5387", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue futuristic collectible card and place it in or on the round dark stone bowl with rim", "object_name": "objacollectiblecard_ddf9b19ef12e455989cee7733c1fc115_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5387/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5389", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the thin white electronic display showing promotion and place it in or on the shallow rustic brown coconut bowl", "object_name": "objaelectronicdisplay_39fdfa7c14a640b58a5ff5e47a1af37c_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5389/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5389", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the hexagonal metallic light projector and place it in or on the shallow rustic brown coconut bowl", "object_name": "objaholographicprojector_137582d0c2774eaaad2400a9f9944df4_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5389/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5390", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the electronic equipment and place it in or on the gray bowl", "object_name": "objavideocamera_3bd48bc193c54407a7ffdbea3c37a4d6_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5390/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5390", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rustic wooden mug and place it in or on the jade green patterned bowl", "object_name": "objamug_8529afb010814c188970381c3596afef_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5390/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5401", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the teal information button and place it in or on the smooth glossy golden bowl", "object_name": "objabutton_d11a2951f1d24e458c6d5a6b3f79db73_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5401/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5408", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gold metallic cursive script nameplate and place it in or on the rustic green ceramic bowl", "object_name": "objadecorativesign_748089ad5eb441ccb3e9f8561567b021_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5408/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5416", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the pixelated wooden hourglass with clear sand and place it in or on the rustic metal bowl", "object_name": "objahourglass_e278f37f71ac4e2e980c6ef53899c2d7_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_5416/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5417", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the climbingshoe and place it in or on the gray bowl", "object_name": "objaclimbingshoe_6612b1e3ee2b4e08952f6bf2b26bd75a_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5417/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5424", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the oval bronze seal with engraved figure and place it in or on the rustic ceramic bowl with earthy tones", "object_name": "objaseal_9d5e1792205e4d908035feb229b6d375_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5424/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5428", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the smooth polished cylindrical metal ring and place it in or on the pixelated bowl filled with ramen", "object_name": "objawasher_43e7ebcba34645448a997c3d03054d33_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5428/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5431", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage metallic desk calendar and place it in or on the tan bowl with dark patterns", "object_name": "objadeskcalendar_c0ddec650d304adbb5d6730f43205dda_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5431/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5435", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the pale off-white stone arrowhead and place it in or on the rusty metal tray with meat", "object_name": "objaarrowhead_0ece42a1f78e4c98afad7367973dfc49_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5435/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5436", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the thin rectangular metallic plaque with image and place it in or on the bright insect design bowl", "object_name": "objaplaque_5e188d3eda424161a355de45abcdf4e4_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5436/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5442", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the white paper roll and place it in or on the rustic gray bowl", "object_name": "objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5442/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5453", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the curved green cucumber with speckles and place it in or on the round wooden bowl with grain pattern", "object_name": "objacucumber_0aef5e1b2ef446d7a5663674e75d45c8_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_5453/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5454", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the purple smartphone and place it in or on the antique rustic metal bowl", "object_name": "objasmartphone_a277fe5b13614659bab459f0df3adf8d_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5454/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5465", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red polka dot bowtie and place it in or on the green bowl", "object_name": "objabowtie_a3f9109d67fe429aa527428dcdac1c6e_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5465/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5473", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red kit kat chunky package and place it in or on the brown shallow rectangular basin with edges", "object_name": "objachocolatebarpackage_c4e4135658354eaa8b72810dbae0270a_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5473/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5474", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the tradingcard and place it in or on the faceted green striped bowl", "object_name": "objatradingcard_90d980fb471f440aa1d16866c79c61f7_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5474/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5479", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black smartphone with cameras and place it in or on the round terracotta clay serving dish", "object_name": "objasmartphone_16b06a69ca97415792c42dd1dc63a4d3_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5479/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5481", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the round flask with purple liquid and place it in or on the round small beige bowl", "object_name": "objaflask_c0b5678842064353972d518a67f1ff13_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5481/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5482", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the beige flint spearhead and place it in or on the round gray bowl", "object_name": "objastonetool_f5a48834fc66497ebc416ef94ec2eeeb_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5482/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5483", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the gray bracket and place it in or on the rustic clay bowl with two handles", "object_name": "objamountingbracket_89c52ab7b8f149369c832713bad2203c_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_5483/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5488", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blocky wooden rifle wrapped in green and place it in or on the wide shallow metal cooking pot", "object_name": "objatoyrifle_c085a04dae664cfe958c22fde3a18283_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5488/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5491", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the worn turquoise can and place it in or on the blue pot", "object_name": "objafoodcan_7f5083c31b074cc3a08bf2bd4ef16591_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5491/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5495", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue soldering iron and place it in or on the red clay bowl with zigzag pattern", "object_name": "objasolderingiron_fb480380d29144e7a2a6437208d10d72_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5495/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5505", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the wooden beaver carving and place it in or on the rustic bowl with chipped rim", "object_name": "objawoodencarving_6589b07c9b2d49778e08d7e6110c04c6_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5505/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5508", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the bottleopener and place it in or on the ceramic bowl filled with rice and peas", "object_name": "objabottleopener_c7783daa48a6466a9ac5f43e8f86db54_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5508/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5509", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the hinge and place it in or on the stone bowl filled with crystals", "object_name": "objahinge_4587c40e36704e7a96ffebad95028160_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5509/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5511", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the vintage metal sharpener and place it in or on the crockery", "object_name": "objapencilsharpener_90238a6e97484f7ca846101ed7f43eac_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5511/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5521", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark t-shaped cleaning squeegee and place it in or on the rustic shallow clay bowl", "object_name": "objasqueegee_7003b80d192b4515bab588a29bcd86d3_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_5521/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5535", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the worn sandal and place it in or on the pixelated ramen bowl", "object_name": "objasandal_236d43744d2e42db923b0dbd7ee0e911_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5535/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5537", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the glossy u-shaped blue and red magnet and place it in or on the round gray bowl", "object_name": "objamagnet_203d2234abaf4e33851d2ab311015da7_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5537/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5540", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black digital music player and place it in or on the earthy toned handmade ceramic bowl", "object_name": "objadigitalmusicplayer_718d4a2a12e8402faa7af85890acb08c_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5540/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5541", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green floral wedding invitation card and place it in or on the pixelated bowl filled with ramen", "object_name": "objainvitationcard_e73597e02fef49fd988cbda0d6abe53b_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5541/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5543", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the moka pot and place it in or on the rustic stone bowl with bird spout", "object_name": "objamokapot_e359184cea054cb09b5c603845cb0231_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5543/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5549", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the realistic human hand and place it in or on the gray bowl", "object_name": "objahumanhandmodel_8fb51276bf0e42fca8a554c2e2ea687e_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5549/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5555", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the pink flower with yellow center and leaves and place it in or on the smooth silver bowl", "object_name": "objadecorativeflower_99e08ec1b42241c080912996eebbffe6_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5555/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5559", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the slender light brown wooden stake and place it in or on the brown rectangular basin", "object_name": "objawoodenstake_20e19d2fe4954b2382123e8bbc8df270_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_5559/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_5561", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rusty spray paint can with blue and place it in or on the green rectangular box with snowflakes", "object_name": "objaspraypaintcan_9e725e49c0074fc0a1a08cacc85ee898_2_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5561/trajectories_batch_1_of_1.h5", "metadata": {}} diff --git a/pnp_v2/pnp_v2/submission/results.csv b/pnp_v2/pnp_v2/submission/results.csv new file mode 100644 index 0000000000000000000000000000000000000000..e608ebe8c4038de97615707789a1267dcf13c4f7 --- /dev/null +++ b/pnp_v2/pnp_v2/submission/results.csv @@ -0,0 +1,512 @@ +# policy_name: latest +# run_path: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards +# dt: 0.066 +# max_steps: 450 +policy,category,successes,total,success_rate_pct,ci_95_low_pct,ci_95_high_pct,oracle_successes,oracle_rate_pct,oracle_ci_95_low_pct,oracle_ci_95_high_pct,jerk_joint_mean,jerk_joint_std +latest,Alarmclock,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,35.032317,13.245977 +latest,Bowl,0,4,0.0,0.51,52.18,0,0.0,0.51,52.18,59.598142,17.748836 +latest,Candle,0,4,0.0,0.51,52.18,0,0.0,0.51,52.18,62.424474,56.071591 +latest,Cellulartelephone,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,22.138911,8.61718 +latest,Cup,1,5,20.0,4.33,64.12,1,20.0,4.33,64.12,44.531214,23.565174 +latest,Egg,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,52.97567,43.002684 +latest,Fruit,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,66.894558,32.179663 +latest,Irishpotato,0,7,0.0,0.32,36.94,0,0.0,0.32,36.94,53.037383,19.651943 +latest,Knife,0,5,0.0,0.42,45.93,0,0.0,0.42,45.93,52.98245,24.565544 +latest,Objaactionfigure,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,70.453419,0.0 +latest,Objaadjustablewrench,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,33.428984,15.193533 +latest,Objaaerosolcan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,27.217543,0.0 +latest,Objaairblower,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,26.726599,13.645548 +latest,Objaalarmclock,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,8.205044,0.0 +latest,Objaaluminumextrusionprofile,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,20.481702,0.0 +latest,Objaammunition,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,51.548384,11.011228 +latest,Objaamulet,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,44.384098,8.625718 +latest,Objaanemometer,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,30.7874,0.0 +latest,Objaanimalfigure,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,43.760131,0.0 +latest,Objaantiqueiron,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.477969,0.0 +latest,Objaantiquekey,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,81.551806,0.0 +latest,Objaantiquetool,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,52.470919,15.90015 +latest,Objaarrowhead,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,52.456201,11.950689 +latest,Objaartifact,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,32.358336,25.767987 +latest,Objaartificialflower,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.617001,0.0 +latest,Objaathleticshoe,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,24.009887,13.438475 +latest,Objaaudiorecorder,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,18.331039,0.0 +latest,Objaavocado,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,47.635242,0.0 +latest,Objaawl,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,31.027067,21.191302 +latest,Objabacteriummodel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,27.498667,0.0 +latest,Objabadge,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,44.895591,8.926713 +latest,Objaband,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,52.087425,15.517533 +latest,Objabarcodescanner,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,22.225755,5.826954 +latest,Objabatterypack,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,40.730871,18.063735 +latest,Objabeetle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,151.637038,0.0 +latest,Objabellpepper,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.222843,0.0 +latest,Objabeltbuckle,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,31.890973,13.727692 +latest,Objabeveragecarton,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,75.536618,35.335288 +latest,Objabeveragecontainer,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.14695,0.0 +latest,Objabeveragecup,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.199208,0.0 +latest,Objabird,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.380024,0.0 +latest,Objabirdfigurine,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,32.995019,3.425067 +latest,Objabluetoothspeaker,0,4,0.0,0.51,52.18,0,0.0,0.51,52.18,39.620247,10.379744 +latest,Objabolt,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,60.727668,0.0 +latest,Objabone,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,62.579191,0.0 +latest,Objabottle,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,35.591354,2.909184 +latest,Objabottleopener,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,35.710074,20.349289 +latest,Objabouquet,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,58.876725,0.0 +latest,Objabowtie,0,4,0.0,0.51,52.18,0,0.0,0.51,52.18,43.318212,30.5641 +latest,Objabrush,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,14.5691,0.0 +latest,Objabullet,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,32.96303,2.782565 +latest,Objabulletcartridge,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,40.189682,4.235144 +latest,Objabutterflyknife,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,30.583907,7.582003 +latest,Objabutton,1,4,25.0,5.27,71.64,1,25.0,5.27,71.64,32.58111,20.847624 +latest,Objacabinethinge,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,25.059858,12.648824 +latest,Objacalculatorradio,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,31.756867,0.0 +latest,Objacamcorder,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,22.615317,12.764419 +latest,Objacamera,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,29.284591,0.897896 +latest,Objacan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,28.675332,0.0 +latest,Objacandle,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,64.950984,30.522733 +latest,Objacandlestickholder,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,52.003984,0.0 +latest,Objacandywrapper,0,5,0.0,0.42,45.93,0,0.0,0.42,45.93,49.277276,31.505468 +latest,Objacanopener,0,4,0.0,0.51,52.18,0,0.0,0.51,52.18,49.341012,6.285558 +latest,Objacapsule,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.99615,0.0 +latest,Objacard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,80.47785,0.0 +latest,Objacasing,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.252659,0.0 +latest,Objacassetterecorder,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,41.597818,12.385432 +latest,Objaceramicbirdfigure,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.547901,0.0 +latest,Objaceramicbowl,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,65.573111,37.980649 +latest,Objaceramiccup,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,31.388969,18.555654 +latest,Objaceramicmug,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.823448,0.0 +latest,Objaceramicsculpture,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,52.373227,0.0 +latest,Objachain,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,72.819787,47.543577 +latest,Objacheese,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,18.993899,6.762684 +latest,Objacheesecake,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,17.582778,0.0 +latest,Objachefsknife,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,30.322755,0.0 +latest,Objachesspiece,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,37.076278,9.427625 +latest,Objachewinggumpackage,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,49.291769,0.0 +latest,Objachisel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.5179,0.0 +latest,Objachocolatebar,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,43.816401,0.0 +latest,Objachocolatebarpackage,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,64.357761,11.673529 +latest,Objachocolatebunny,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,48.868891,13.573788 +latest,Objacigarpackage,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,27.967474,0.0 +latest,Objaclamp,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,33.559071,0.0 +latest,Objaclaydish,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,82.488319,0.0 +latest,Objaclaysample,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,29.902239,11.522261 +latest,Objaclaytablet,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,44.706871,15.952544 +latest,Objacleaningbottle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,109.948769,0.0 +latest,Objacleaningsponge,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,31.085667,29.095718 +latest,Objaclimbingshoe,0,4,0.0,0.51,52.18,0,0.0,0.51,52.18,56.068025,27.444955 +latest,Objaclothesiron,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,70.316672,26.839747 +latest,Objaclothespin,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,59.766617,0.0 +latest,Objaclub,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.155641,0.0 +latest,Objacoilspring,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.56728,0.0 +latest,Objacollar,0,9,0.0,0.25,30.85,0,0.0,0.25,30.85,43.143029,20.639609 +latest,Objacollectiblecard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.880652,0.0 +latest,Objacommunicationdevice,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,14.203249,0.0 +latest,Objacompass,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,41.595025,0.0 +latest,Objacomponent,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,123.477187,0.0 +latest,Objacomputerkeyboard,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,43.500683,19.399146 +latest,Objacomputermouse,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,18.414834,0.0 +latest,Objaconnector,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,29.206565,4.616876 +latest,Objacookie,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,43.034858,0.0 +latest,Objacorkscrew,0,4,0.0,0.51,52.18,0,0.0,0.51,52.18,66.216345,53.576671 +latest,Objacornermolding,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.869113,0.0 +latest,Objacostumefigure,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,102.576357,0.0 +latest,Objacroissant,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,33.29619,22.181033 +latest,Objacrown,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,50.733497,0.0 +latest,Objacucumber,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,55.784918,13.911464 +latest,Objacupcake,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.739796,0.0 +latest,Objacylinderseal,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,77.23418,0.0 +latest,Objadecorativeaccessory,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,51.165694,10.20107 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+latest,Objadecorativecrown,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,13.21262,2.144227 +latest,Objadecorativedish,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.914921,0.0 +latest,Objadecorativeelement,0,4,0.0,0.51,52.18,0,0.0,0.51,52.18,49.36442,15.74369 +latest,Objadecorativeemblem,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,46.093359,3.514211 +latest,Objadecorativeenvelope,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.250686,0.0 +latest,Objadecorativeeye,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,41.394627,4.8804 +latest,Objadecorativefigurine,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.186755,0.0 +latest,Objadecorativefish,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,76.845891,0.0 +latest,Objadecorativefishsculpture,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,59.661078,9.945188 +latest,Objadecorativefixture,1,4,25.0,5.27,71.64,1,25.0,5.27,71.64,32.545643,23.718564 +latest,Objadecorativeflower,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,95.026557,29.372804 +latest,Objadecorativefoodmodel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,26.286161,0.0 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+latest,Vase,0,4,0.0,0.51,52.18,0,0.0,0.51,52.18,20.379362,7.415053 +latest,OVERALL,26,999,2.6,1.79,3.79,26,2.6,1.79,3.79,44.471467,28.552263 diff --git a/pnp_v2/pnp_v2/submission/shard_00.launcher.log b/pnp_v2/pnp_v2/submission/shard_00.launcher.log new file mode 100644 index 0000000000000000000000000000000000000000..4021a051a3cacf572c05ee236501a04368a12b43 --- /dev/null +++ b/pnp_v2/pnp_v2/submission/shard_00.launcher.log @@ -0,0 +1,1516 @@ +================================================================================ +Official MolmoSpaces Submission Run +================================================================================ +Checkpoint : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt +Benchmark dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +Output root : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00 +Eval output dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval +Submission dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/submission +Conda env : molmospace +Policy name : latest +Policy device : cuda:0 +Text embedding device : cpu +Prompt cache dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan +Workers : 1 +Task horizon steps : 450 +Action chunk size : 8 +Obs camera : droid_shoulder_light_randomization +Obs wrist camera : wrist_camera_zed_mini +Camera names : droid_shoulder_light_randomization wrist_camera_zed_mini +Preview camera names : droid_shoulder_light_randomization +End on success : 1 +Visualization : 0 +Save raw videos : 0 +Save video sensors : __none__ +Success condition (CSV) : both + +Official runner : molmo_spaces.evaluation.run_evaluation() +CSV exporter : molmospaces/scripts/benchmarks/eval_to_csv.py + +Command +conda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament +================================================================================ +[2026-05-26 01:03:53,028] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath'] +[2026-05-26 01:03:53,101] INFO Selected MuJoCo backend: egl +[2026-05-26 01:03:53,119] INFO Using MolmoSpaces benchmark: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 (source=arg) +[2026-05-26 01:03:56,050] INFO No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +[nltk_data] Downloading package wordnet to /home/yuanpei/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /home/yuanpei/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +[2026-05-26 01:04:07,335] INFO ResourceManager (R2RemoteStorage('https://pub-3555e9bb2d304fab9c6c79819e48aa40.r2.dev')) using: + symlink_dir=/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets + cache_dir=/home/yuanpei/.cache/molmo-spaces-resources + force_install=True +/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py:129: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +[2026-05-26 01:04:32,495] INFO Requested MolmoSpaces simulator cameras: ['droid_shoulder_light_randomization', 'wrist_camera_zed_mini'] +[2026-05-26 01:04:32,499] INFO Using save_video_sensors=['__none__'] +[2026-05-26 01:04:37,293] INFO Resolved MolmoSpaces action semantics from checkpoint: source=pnp_next_to_v2 type=molmo_raw arm_action_key=joint_pos_rel gripper_action_key=joint_pos action_type=joint_pos_rel arm_command_mode=joint_rel_position +[2026-05-26 01:04:37,349] INFO Using explicit task_horizon override: 450 steps +[05/26 01:04:37 INFO pipeline.py:677] WandB logging disabled (environment variables not set) +[2026-05-26 01:04:37,427] INFO JsonEvalRunner initialized: 37 houses, 42 episodes from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 01:04:37 INFO pipeline.py:1279] Starting house-by-house rollout of 37 houses with 2 episodes each (74 total episodes) using 1 worker processes +[05/26 01:04:37 INFO pipeline.py:1286] Evaluation configuration: +[05/26 01:04:37 INFO pipeline.py:1287] {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['droid_shoulder_light_randomization', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 'wan_molmobot_franka', + 'obs_camera_name': 'droid_shoulder_light_randomization', + 'obs_image_key': 'rgb_head', + 'obs_state_key': 'robot_state', + 'obs_wrist_camera_name': 'wrist_camera_zed_mini', + 'obs_wrist_image_key': 'rgb_wrist', + 'policy_cls': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [3871, + 3898, + 3945, + 3990, + 4017, + 4068, + 4133, + 4205, + 4270, + 4295, + 4346, + 4374, + 4411, + 4484, + 4540, + 4584, + 4641, + 4698, + 4707, + 4738, + 4765, + 4803, + 4857, + 4916, + 4982, + 5004, + 5020, + 5115, + 5164, + 5218, + 5287, + 5359, + 5389, + 5424, + 5465, + 5491, + 5537], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} +[2026-05-26 01:04:37,456] INFO Saved experiment configuration to /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437 +[05/26 01:04:37 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler +[05/26 01:04:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/26 01:04:37 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler +[05/26 01:04:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3871 (index 0/37) +[05/26 01:04:37 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 3871 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 01:04:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes + Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +[05/26 01:04:59 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativecandle_0c791ace8deb4316bd377aa7fb553517_1_0_5 in scene +[05/26 01:04:59 Worker 0 WARNING object_manager.py:1238] Could not find object objacollar_5f329a75ab1a4890868ba37061ca3396_1_0_5 in scene +2026-05-26 01:06:03.158 | INFO | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0 +[2026-05-26 01:06:37,059] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k) +[2026-05-26 01:06:46,970] INFO [timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k] Safe alternative available for 'pytorch_model.bin' (as 'model.safetensors'). Loading weights using safetensors. +[2026-05-26 01:08:54,462] INFO Number of parameters in DiT: 1.821428e+07 +[2026-05-26 01:09:06,519] INFO Loaded generic psi-policy checkpoint | target=psi_policy.policy.psi_policy.PsiPolicy | obs_keys=['rgb_head', 'rgb_wrist', 'robot_state', 'text_context'] | action_horizon=16 | action_dim=8 +[2026-05-26 01:09:06,530] INFO Loaded MolmoSpaces policy | checkpoint=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt | target=psi_policy.policy.psi_policy.PsiPolicy | device=cuda:0 | action_chunk_size=8 +[05/26 01:13:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 3871 episode 0 object objadriedfish_00fbc8e52f834ba78b25ffb6962b98e8_1_0_8 completed with success=False +[05/26 01:14:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'proct[05/26 01:14:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objath Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +[05/26 01:31:51 Worker 0 WARNING object_manager.py:1238] Could not find object objapliers_de2e9e84e52844a0ab522e5e98202453_1_0_2 in scene +[05/26 01:31:51 Worker 0 WARNING object_manager.py:1238] Could not find object objabakedgood_454783f25d8c46ac87969c8f161b1a16_1_0_2 in scene +[2026-05-26 01:33:00,575] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/huggingface_hub/file_download.py:945: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`. + warnings.warn( +[05/26 01:33:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:38:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 3898 episode 0 object objascrew_477a7178be2b4f709bb4fe2d724f47cf_1_0_2 completed with success=False +[05/26 01:39:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3898: 1 episodes +[05/26 01:39:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:39:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:39:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_3898 +[05/26 01:39:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3898 in 3.27s (batch: 3.11s, save: 0.16s) +[05/26 01:39:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3898 +[05/26 01:39:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3898: 0/1 successful episodes +[05/26 01:39:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3945 (index 2/37) +[05/26 01:39:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3945 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 01:39:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +[2026-05-26 01:42:54,815] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 01:43:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:46:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 3945 episode 0 object objadecorativefixture_e14a2e218f6e4a588489e4b5508bff5e_1_0_3 completed with success=False +[05/26 01:46:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3945: 1 episodes +[05/26 01:46:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:46:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:46:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_3945 +[05/26 01:46:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3945 in 2.52s (batch: 2.43s, save: 0.09s) +[05/26 01:46:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3945 +[05/26 01:46:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3945: 0/1 successful episodes +[05/26 01:46:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3990 (index 3/37) +[05/26 01:46:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3990 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 01:46:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[05/26 01:53:24 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +[2026-05-26 01:54:26,314] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 01:54:44 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:57:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 3990 episode 0 object objaopticaldevice_03c6cfba0c13448faef5a7149bf7be86_1_0_4 completed with success=False +[05/26 01:57:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3990: 1 episodes +[05/26 01:57:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:57:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:57:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_3990 +[05/26 01:57:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3990 in 3.29s (batch: 3.10s, save: 0.20s) +[05/26 01:57:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3990 +[05/26 01:57:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3990: 0/1 successful episodes +[05/26 01:57:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4017 (index 4/37) +[05/26 01:57:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4017 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 01:57:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +[2026-05-26 02:00:24,132] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:01:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:06:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 4017 episode 0 object objadecorativefoodmodel_9c9d11d317814c2085da004146c4917c_1_0_8 completed with success=False +[05/26 02:06:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4017: 1 episodes +[05/26 02:06:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:06:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:06:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4017 +[05/26 02:06:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4017 in 3.39s (batch: 3.25s, save: 0.14s) +[05/26 02:06:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4017 +[05/26 02:06:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4017: 0/1 successful episodes +[05/26 02:06:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4068 (index 5/37) +[05/26 02:06:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4068 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 02:06:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[2026-05-26 02:08:55,106] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:10:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:16:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 4068 episode 0 object objatelephonehandset_0ddfdf35baa6475d9ba001a570eaeebd_1_0_7 completed with success=False +[05/26 02:16:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4068: 1 episodes +[05/26 02:16:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:16:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:16:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4068 +[05/26 02:16:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4068 in 2.90s (batch: 2.78s, save: 0.12s) +[05/26 02:16:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4068 +[05/26 02:16:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4068: 0/1 successful episodes +[05/26 02:16:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4133 (index 6/37) +[05/26 02:16:35 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4133 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 02:16:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/60 [00:00 does not support tracking retries. +[2026-05-26 02:18:30,741] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:23:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 4133 episode 0 object objagreetingcard_5c7029b2edd248cdafcfd33c93ff1728_1_0_7 completed with success=False +[05/26 02:23:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4133: 1 episodes +[05/26 02:23:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:23:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:23:41 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4133 +[05/26 02:23:41 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4133 in 3.72s (batch: 3.52s, save: 0.20s) +[05/26 02:23:42 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4133 +[05/26 02:23:42 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4133: 0/1 successful episodes +[05/26 02:23:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4205 (index 7/37) +[05/26 02:23:42 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4205 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 02:23:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[2026-05-26 02:26:05,285] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:27:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:31:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 4205 episode 0 object objateacup_ccc2c0af285d479b8c5961d3c678aefc_1_0_7 completed with success=False +[05/26 02:31:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4205: 1 episodes +[05/26 02:31:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:31:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:31:26 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4205 +[05/26 02:31:26 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4205 in 3.00s (batch: 2.85s, save: 0.15s) +[05/26 02:31:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4205 +[05/26 02:31:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4205: 0/1 successful episodes +[05/26 02:31:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4270 (index 8/37) +[05/26 02:31:27 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4270 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 02:31:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +[2026-05-26 02:32:55,064] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:33:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:37:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 4270 episode 0 object plate_ac19ca22ae10d8179cdc8dc68e02072d_1_0_2 completed with success=False +[05/26 02:38:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4270: 1 episodes +[05/26 02:38:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:38:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:38:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4270 +[05/26 02:38:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4270 in 3.64s (batch: 3.42s, save: 0.23s) +[05/26 02:38:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4270 +[05/26 02:38:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4270: 0/1 successful episodes +[05/26 02:38:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4295 (index 9/37) +[05/26 02:38:05 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4295 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 02:38:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +[2026-05-26 02:40:30,180] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:50:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 4295 episode 0 object objashackle_f04582e626ee4b09b5b870a2730d12b7_1_0_2 completed with success=False +[05/26 02:51:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +[2026-05-26 02:53:34,891] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:55:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:03:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 4295 episode 1 object objasecuritykeypad_e3e26581572f467d84958a12d6305aae_1_0_2 completed with success=False +[05/26 03:03:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4295: 2 episodes +[05/26 03:03:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:03:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:04:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:04:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:04:02 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4295 +[05/26 03:04:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4295 in 6.69s (batch: 6.47s, save: 0.22s) +[05/26 03:04:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4295 +[05/26 03:04:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4295: 0/2 successful episodes +[05/26 03:04:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4346 (index 10/37) +[05/26 03:04:02 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4346 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 03:04:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[05/26 03:04:17 Worker 0 WARNING object_manager.py:1238] Could not find object objasandal_c337b092178a4931a68336c3e6f49287_1_0_9 in scene +[05/26 03:04:17 Worker 0 WARNING object_manager.py:1238] Could not find object objatrackshoe_de9588f97f644bd689fc6502f262575d_1_0_9 in scene +[05/26 03:04:17 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_9 in scene +[2026-05-26 03:06:41,720] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:07:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:15:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 4346 episode 0 object objawoodenrod_93e71d2e393c4992a3bf47eb1fc7e3f7_1_0_4 completed with success=False +[05/26 03:15:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4346: 1 episodes +[05/26 03:15:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:15:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:15:12 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4346 +[05/26 03:15:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4346 in 3.69s (batch: 3.54s, save: 0.15s) +[05/26 03:15:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4346 +[05/26 03:15:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4346: 0/1 successful episodes +[05/26 03:15:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4374 (index 11/37) +[05/26 03:15:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4374 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 03:15:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/7 [00:00 does not support tracking retries. +[2026-05-26 03:16:59,501] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:17:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:21:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 4374 episode 0 object objacandywrapper_4a0fdf73d0474d778fd65ba220f50a71_2_0_2 completed with success=False +[05/26 03:21:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4374: 1 episodes +[05/26 03:21:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:21:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:21:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4374 +[05/26 03:21:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4374 in 3.82s (batch: 3.59s, save: 0.23s) +[05/26 03:21:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4374 +[05/26 03:21:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4374: 0/1 successful episodes +[05/26 03:21:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4411 (index 12/37) +[05/26 03:21:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4411 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 03:21:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[05/26 03:21:42 Worker 0 WARNING object_manager.py:1238] Could not find object objalemonsqueezer_5679cddc744c4f39b731890788405de6_1_0_6 in scene +[05/26 03:21:42 Worker 0 WARNING object_manager.py:1238] Could not find object knife_8409451f726b7f0640a91ddd7ae630cf_1_0_6 in scene +[2026-05-26 03:23:10,179] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:23:30 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:26:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 4411 episode 0 object objaluggagetag_8564a22483104f8aac76a02c12db952a_1_0_7 completed with success=False +[05/26 03:26:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4411: 1 episodes +[05/26 03:26:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:26:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:26:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4411 +[05/26 03:26:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4411 in 3.82s (batch: 3.56s, save: 0.25s) +[05/26 03:26:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4411 +[05/26 03:26:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4411: 0/1 successful episodes +[05/26 03:26:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4484 (index 13/37) +[05/26 03:26:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4484 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 03:26:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +[05/26 03:26:38 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingpanel_8bde878be8dd4fb7b6914db9c4dd31bb_1_0_4 in scene +[2026-05-26 03:28:47,937] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:30:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:40:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 4484 episode 0 object objawood_ae78ba7e73fc4c47a99f4cde24adc46f_1_0_2 completed with success=False +[05/26 03:40:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4484: 1 episodes +[05/26 03:40:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:40:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:40:15 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4484 +[05/26 03:40:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4484 in 3.58s (batch: 3.44s, save: 0.14s) +[05/26 03:40:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4484 +[05/26 03:40:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4484: 0/1 successful episodes +[05/26 03:40:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4540 (index 14/37) +[05/26 03:40:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4540 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 03:40:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[2026-05-26 03:42:30,005] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:46:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 4540 episode 0 object objaclaytablet_6f3cd26177eb4f679f06286bb6a2f304_2_0_5 completed with success=False +[05/26 03:46:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4540: 1 episodes +[05/26 03:46:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:46:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:46:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4540 +[05/26 03:46:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4540 in 2.54s (batch: 2.45s, save: 0.09s) +[05/26 03:46:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4540 +[05/26 03:46:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4540: 0/1 successful episodes +[05/26 03:46:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4584 (index 15/37) +[05/26 03:46:35 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4584 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 03:46:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +[05/26 03:46:55 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_f815ad52d37c217cefc0cafa7edbb112_1_0_5 in scene +[2026-05-26 03:48:50,268] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:50:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:54:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 4584 episode 0 object objavintagecontainer_1681199327f545f6bebc94b7408769ed_2_0_6 completed with success=False +[05/26 03:54:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4584: 1 episodes +[05/26 03:54:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:54:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:54:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4584 +[05/26 03:54:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4584 in 3.01s (batch: 2.88s, save: 0.13s) +[05/26 03:54:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4584 +[05/26 03:54:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4584: 0/1 successful episodes +[05/26 03:54:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4641 (index 16/37) +[05/26 03:54:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4641 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 03:54:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/56 [00:00 does not support tracking retries. +[05/26 03:55:15 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +[05/26 03:55:15 Worker 0 WARNING object_manager.py:1238] Could not find object objabrooch_d4aadade26e64be8a05670b0305c8d9f_1_0_7 in scene +[05/26 03:55:15 Worker 0 WARNING object_manager.py:1238] Could not find object alarmclock_7e1337b32a9e0d9439bef16e80df0de2_1_0_7 in scene +[2026-05-26 03:56:57,872] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:01:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 4641 episode 0 object objakylix_d9cc347595664f83bc1461c857756452_1_0_4 completed with success=False +[05/26 04:01:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4641: 1 episodes +[05/26 04:01:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:01:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:01:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4641 +[05/26 04:01:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4641 in 3.25s (batch: 3.07s, save: 0.18s) +[05/26 04:01:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4641 +[05/26 04:01:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4641: 0/1 successful episodes +[05/26 04:01:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4698 (index 17/37) +[05/26 04:01:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4698 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 04:01:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/9 [00:00 does not support tracking retries. +[2026-05-26 04:03:59,330] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:05:10 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:07:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 4698 episode 0 object objaeyewearframe_a4b712ccca9740d4970a09a54731d812_1_0_2 completed with success=False +[05/26 04:07:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4698: 1 episodes +[05/26 04:07:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:07:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:07:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4698 +[05/26 04:07:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4698 in 2.92s (batch: 2.78s, save: 0.14s) +[05/26 04:07:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4698 +[05/26 04:07:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4698: 0/1 successful episodes +[05/26 04:07:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4707 (index 18/37) +[05/26 04:07:15 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4707 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 04:07:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/8 [00:00 does not support tracking retries. +[2026-05-26 04:08:46,901] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:10:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:13:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 4707 episode 0 object objaseal_9d5e1792205e4d908035feb229b6d375_1_0_2 completed with success=False +[05/26 04:14:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/8 [00:00 does not support tracking retries. +[2026-05-26 04:16:38,832] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:17:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:21:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 4707 episode 1 object knife_8409451f726b7f0640a91ddd7ae630cf_1_0_2 completed with success=False +[05/26 04:21:46 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4707: 2 episodes +[05/26 04:21:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:21:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:21:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:21:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:21:52 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4707 +[05/26 04:21:52 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4707 in 5.43s (batch: 5.25s, save: 0.18s) +[05/26 04:21:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4707 +[05/26 04:21:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4707: 0/2 successful episodes +[05/26 04:21:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4738 (index 19/37) +[05/26 04:21:53 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4738 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 04:21:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/63 [00:00 does not support tracking retries. +[2026-05-26 04:23:20,239] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:24:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:28:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 4738 episode 0 object objaorigamicrane_1455ff78988c49d380161281102ee908_1_0_4 completed with success=False +[05/26 04:28:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4738: 1 episodes +[05/26 04:28:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:28:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:28:49 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4738 +[05/26 04:28:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4738 in 3.45s (batch: 3.35s, save: 0.10s) +[05/26 04:28:49 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4738 +[05/26 04:28:49 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4738: 0/1 successful episodes +[05/26 04:28:49 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4765 (index 20/37) +[05/26 04:28:49 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4765 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 04:28:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/9 [00:00 does not support tracking retries. +[05/26 04:28:53 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativehorn_041a7f79ab8e4a7993f29bda7177dc3c_1_0_2 in scene +[05/26 04:28:53 Worker 0 WARNING object_manager.py:1238] Could not find object Irishpotato_8a68fddf9d6f2cf4be39b3c60dc110ab_1_0_2 in scene +[2026-05-26 04:30:52,166] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:35:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 4765 episode 0 object objadecorativetape_a6bece29c668474c8a01a368941f0e9a_1_0_2 completed with success=False +[05/26 04:35:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4765: 1 episodes +[05/26 04:35:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:35:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:35:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4765 +[05/26 04:35:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4765 in 2.67s (batch: 2.57s, save: 0.09s) +[05/26 04:35:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4765 +[05/26 04:35:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4765: 0/1 successful episodes +[05/26 04:35:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4803 (index 21/37) +[05/26 04:35:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4803 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 04:35:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +[05/26 04:35:29 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_4 in scene +[05/26 04:35:29 Worker 0 WARNING object_manager.py:1238] Could not find object objacollar_5f329a75ab1a4890868ba37061ca3396_1_0_5 in scene +[05/26 04:35:29 Worker 0 WARNING object_manager.py:1238] Could not find object objacollar_eb320910987847f0b361c8c1936d9574_1_0_5 in scene +[05/26 04:35:29 Worker 0 WARNING object_manager.py:1238] Could not find object objaartpiece_92cadd9e10e64ea1a66f963803d79902_1_0_7 in scene +[05/26 04:35:29 Worker 0 WARNING object_manager.py:1238] Could not find object plate_677f844114df17e12c97d63ddf0f6037_1_0_7 in scene +[2026-05-26 04:36:33,120] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:39:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 4803 episode 0 object objadecorativeeye_9d390baaeec94960808345f88af56997_1_0_7 completed with success=False +[05/26 04:39:06 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4803: 1 episodes +[05/26 04:39:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:39:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:39:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4803 +[05/26 04:39:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4803 in 2.38s (batch: 2.28s, save: 0.09s) +[05/26 04:39:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4803 +[05/26 04:39:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4803: 0/1 successful episodes +[05/26 04:39:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4857 (index 22/37) +[05/26 04:39:09 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4857 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 04:39:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/26 [00:00 does not support tracking retries. +[2026-05-26 04:40:18,570] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:40:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:44:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 4857 episode 0 object objasteamiron_7dc6eeb22d424534b45783fbe997b302_1_0_6 completed with success=False +[05/26 04:44:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4857: 1 episodes +[05/26 04:44:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:44:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:44:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4857 +[05/26 04:44:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4857 in 3.81s (batch: 3.59s, save: 0.22s) +[05/26 04:44:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4857 +[05/26 04:44:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4857: 0/1 successful episodes +[05/26 04:44:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4916 (index 23/37) +[05/26 04:44:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4916 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 04:44:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/14 [00:00 does not support tracking retries. +[2026-05-26 04:46:20,234] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:46:48 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:52:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 4916 episode 0 object objadispenser_dae48a392c5a4f3aa00235e664ee7d4d_1_0_3 completed with success=False +[05/26 04:52:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4916: 1 episodes +[05/26 04:52:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:52:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:52:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4916 +[05/26 04:52:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4916 in 2.81s (batch: 2.69s, save: 0.12s) +[05/26 04:52:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4916 +[05/26 04:52:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4916: 0/1 successful episodes +[05/26 04:52:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4982 (index 24/37) +[05/26 04:52:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4982 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 04:52:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/59 [00:00 does not support tracking retries. +[2026-05-26 04:54:19,327] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:54:44 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:58:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 4982 episode 0 object objahandle_a168ec0564fb4a1e98caadee6866be28_1_0_8 completed with success=False +[05/26 04:58:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4982: 1 episodes +[05/26 04:58:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:58:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:58:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_4982 +[05/26 04:58:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4982 in 3.74s (batch: 3.61s, save: 0.13s) +[05/26 04:58:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4982 +[05/26 04:58:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4982: 0/1 successful episodes +[05/26 04:58:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5004 (index 25/37) +[05/26 04:58:41 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 5004 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 04:58:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/32 [00:00 does not support tracking retries. +[05/26 04:58:54 Worker 0 WARNING object_manager.py:1238] Could not find object pencil_2c624e64d6f8a208a3a089ad77d16aa1_1_0_4 in scene +[2026-05-26 05:01:04,204] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:05:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 5004 episode 0 object objacollar_5f329a75ab1a4890868ba37061ca3396_1_0_3 completed with success=False +[05/26 05:05:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/32 [00:00 does not support tracking retries. +[05/26 05:06:02 Worker 0 WARNING object_manager.py:1238] Could not find object pencil_2c624e64d6f8a208a3a089ad77d16aa1_1_0_4 in scene +[2026-05-26 05:08:02,645] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:09:13 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:17:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 5004 episode 1 object objafish_a7e1f30e664a4db18ecea3c6ffb0a90c_1_0_2 completed with success=False +[05/26 05:18:04 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5004: 2 episodes +[05/26 05:18:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:18:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:18:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:18:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:18:11 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5004 +[05/26 05:18:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5004 in 6.76s (batch: 6.44s, save: 0.32s) +[05/26 05:18:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5004 +[05/26 05:18:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5004: 0/2 successful episodes +[05/26 05:18:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5020 (index 26/37) +[05/26 05:18:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5020 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 05:18:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[2026-05-26 05:20:19,740] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:21:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:25:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 5020 episode 0 object objashackle_d956a23797094d87aa85c1a139c15d68_1_0_2 completed with success=False +[05/26 05:25:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5020: 1 episodes +[05/26 05:25:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:25:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:25:20 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5020 +[05/26 05:25:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5020 in 3.65s (batch: 3.43s, save: 0.22s) +[05/26 05:25:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5020 +[05/26 05:25:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5020: 0/1 successful episodes +[05/26 05:25:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5115 (index 27/37) +[05/26 05:25:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5115 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 05:25:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/6 [00:00 does not support tracking retries. +[2026-05-26 05:28:04,898] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:29:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:32:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 5115 episode 0 object objaspraycan_e9c031fbf1bd451998676923027e296a_1_0_2 completed with success=False +[05/26 05:32:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5115: 1 episodes +[05/26 05:32:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:32:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:32:59 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5115 +[05/26 05:32:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5115 in 3.99s (batch: 3.84s, save: 0.15s) +[05/26 05:33:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5115 +[05/26 05:33:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5115: 0/1 successful episodes +[05/26 05:33:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5164 (index 28/37) +[05/26 05:33:00 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5164 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 05:33:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[2026-05-26 05:35:22,272] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:36:23 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:39:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 5164 episode 0 object objamokapot_eb0d9a02bb39465e95d82e84dd86a654_1_0_2 completed with success=False +[05/26 05:39:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5164: 1 episodes +[05/26 05:39:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:39:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:39:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5164 +[05/26 05:39:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5164 in 3.42s (batch: 3.22s, save: 0.20s) +[05/26 05:39:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5164 +[05/26 05:39:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5164: 0/1 successful episodes +[05/26 05:39:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5218 (index 29/37) +[05/26 05:39:35 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5218 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 05:39:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/12 [00:00 does not support tracking retries. +[2026-05-26 05:41:43,212] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:42:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:48:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 5218 episode 0 object objacandle_d6c8730447ce4ddfb6c5b72609216476_1_0_3 completed with success=False +[05/26 05:48:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5218: 1 episodes +[05/26 05:48:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:48:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:48:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5218 +[05/26 05:48:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5218 in 3.24s (batch: 3.08s, save: 0.15s) +[05/26 05:48:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5218 +[05/26 05:48:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5218: 0/1 successful episodes +[05/26 05:48:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5287 (index 30/37) +[05/26 05:48:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5287 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 05:48:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +[2026-05-26 05:50:28,165] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:55:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 5287 episode 0 object objabrush_f8f0d72e40d24bf8afa4b0157cbcb7c7_1_0_8 completed with success=False +[05/26 05:55:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5287: 1 episodes +[05/26 05:55:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:55:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:55:57 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5287 +[05/26 05:55:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5287 in 4.04s (batch: 3.73s, save: 0.30s) +[05/26 05:55:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5287 +[05/26 05:55:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5287: 0/1 successful episodes +[05/26 05:55:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5359 (index 31/37) +[05/26 05:55:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5359 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 05:55:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/60 [00:00 does not support tracking retries. +[05/26 05:56:09 Worker 0 WARNING object_manager.py:1238] Could not find object objamedicalmask_b52524319c70458db1c3a78f9c096afe_1_0_5 in scene +[05/26 05:56:09 Worker 0 WARNING object_manager.py:1238] Could not find object objamarbleslab_7d540d7b25af4e41a58eaeb5037f88a9_1_0_5 in scene +[2026-05-26 05:57:46,045] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:58:16 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:01:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 5359 episode 0 object objacorkscrew_63c8864e17844947b75f6cd32d8e5224_1_0_2 completed with success=False +[05/26 06:01:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5359: 1 episodes +[05/26 06:01:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:01:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:01:58 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5359 +[05/26 06:01:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5359 in 2.53s (batch: 2.44s, save: 0.10s) +[05/26 06:01:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5359 +[05/26 06:01:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5359: 0/1 successful episodes +[05/26 06:01:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5389 (index 32/37) +[05/26 06:01:58 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 5389 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 06:01:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/32 [00:00 does not support tracking retries. +[2026-05-26 06:03:26,948] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:07:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 5389 episode 0 object objaelectronicdisplay_39fdfa7c14a640b58a5ff5e47a1af37c_1_0_7 completed with success=False +[05/26 06:08:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/32 [00:00 does not support tracking retries. +[2026-05-26 06:10:40,518] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:12:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:15:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 5389 episode 1 object objaholographicprojector_137582d0c2774eaaad2400a9f9944df4_1_0_4 completed with success=False +[05/26 06:15:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5389: 2 episodes +[05/26 06:15:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:15:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:15:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:15:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:15:40 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5389 +[05/26 06:15:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5389 in 5.31s (batch: 5.13s, save: 0.18s) +[05/26 06:15:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5389 +[05/26 06:15:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5389: 0/2 successful episodes +[05/26 06:15:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5424 (index 33/37) +[05/26 06:15:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5424 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 06:15:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/27 [00:00 does not support tracking retries. +[2026-05-26 06:17:38,006] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:18:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:23:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 5424 episode 0 object objaseal_9d5e1792205e4d908035feb229b6d375_1_0_7 completed with success=False +[05/26 06:23:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5424: 1 episodes +[05/26 06:23:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:23:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:23:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5424 +[05/26 06:23:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5424 in 3.20s (batch: 2.99s, save: 0.21s) +[05/26 06:23:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5424 +[05/26 06:23:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5424: 0/1 successful episodes +[05/26 06:23:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5465 (index 34/37) +[05/26 06:23:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5465 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 06:23:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +[2026-05-26 06:25:18,416] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:28:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 5465 episode 0 object objabowtie_a3f9109d67fe429aa527428dcdac1c6e_1_0_6 completed with success=False +[05/26 06:28:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5465: 1 episodes +[05/26 06:28:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:28:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:28:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5465 +[05/26 06:28:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5465 in 2.70s (batch: 2.58s, save: 0.13s) +[05/26 06:28:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5465 +[05/26 06:28:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5465: 0/1 successful episodes +[05/26 06:28:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5491 (index 35/37) +[05/26 06:28:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5491 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 06:28:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +[2026-05-26 06:30:40,788] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:31:20 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:33:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 5491 episode 0 object objafoodcan_7f5083c31b074cc3a08bf2bd4ef16591_1_0_6 completed with success=False +[05/26 06:33:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5491: 1 episodes +[05/26 06:33:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:33:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:33:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5491 +[05/26 06:33:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5491 in 2.66s (batch: 2.54s, save: 0.12s) +[05/26 06:33:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5491 +[05/26 06:33:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5491: 0/1 successful episodes +[05/26 06:33:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5537 (index 36/37) +[05/26 06:33:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5537 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_00 +[05/26 06:33:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/34 [00:00 does not support tracking retries. +[05/26 06:34:00 Worker 0 WARNING object_manager.py:1238] Could not find object objareplicagrenade_35bb02f065604241a6119f7623978332_1_0_8 in scene +[05/26 06:34:00 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_a44357a2040f1b94a5a7e0de00e153b6_1_0_8 in scene +[2026-05-26 06:35:28,243] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:35:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:41:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 5537 episode 0 object objamagnet_203d2234abaf4e33851d2ab311015da7_1_0_4 completed with success=False +[05/26 06:41:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5537: 1 episodes +[05/26 06:41:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:41:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:41:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010437/house_5537 +[05/26 06:41:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5537 in 3.70s (batch: 3.46s, save: 0.24s) +[05/26 06:41:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5537 +[05/26 06:41:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5537: 0/1 successful episodes +[05/26 06:41:57 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses +[05/26 06:41:58 INFO pipeline.py:1496] Completed 37 houses, skipped 0 houses +[05/26 06:41:58 INFO pipeline.py:1499] Success count: 0, Total count: 42 +[05/26 06:41:58 INFO pipeline.py:1500] Success rate: 0.00% +Combined 42 episodes from 37 files → /tmp/tmpvadbkst4.h5 + +Saved → /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/results.csv at-end: 0.0% | oracle: 0.0% of 42 episodes +[2026-05-26 06:42:05,948] INFO MolmoSpaces simulator eval finished: success=0/42 rate=0.0000 output=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval +[2026-05-26 06:42:05,949] INFO Benchmark CSV: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval/results.csv + +Submission artifacts ready: + CSV : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/submission/results.csv + Bundle zip : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/submission_bundle.zip + Summary : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/submission/summary.json + Full eval output : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/eval + Repro command : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_00/run_command.sh diff --git a/pnp_v2/pnp_v2/submission/shard_01.launcher.log b/pnp_v2/pnp_v2/submission/shard_01.launcher.log new file mode 100644 index 0000000000000000000000000000000000000000..005227a342e39b17746d0101591d7d3d171e9315 --- /dev/null +++ b/pnp_v2/pnp_v2/submission/shard_01.launcher.log @@ -0,0 +1,1516 @@ +================================================================================ +Official MolmoSpaces Submission Run +================================================================================ +Checkpoint : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt +Benchmark dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +Output root : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01 +Eval output dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval +Submission dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/submission +Conda env : molmospace +Policy name : latest +Policy device : cuda:0 +Text embedding device : cpu +Prompt cache dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan +Workers : 1 +Task horizon steps : 450 +Action chunk size : 8 +Obs camera : droid_shoulder_light_randomization +Obs wrist camera : wrist_camera_zed_mini +Camera names : droid_shoulder_light_randomization wrist_camera_zed_mini +Preview camera names : droid_shoulder_light_randomization +End on success : 1 +Visualization : 0 +Save raw videos : 0 +Save video sensors : __none__ +Success condition (CSV) : both + +Official runner : molmo_spaces.evaluation.run_evaluation() +CSV exporter : molmospaces/scripts/benchmarks/eval_to_csv.py + +Command +conda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament +================================================================================ +[2026-05-26 01:03:53,068] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath'] +[2026-05-26 01:03:53,136] INFO Selected MuJoCo backend: egl +[2026-05-26 01:03:53,155] INFO Using MolmoSpaces benchmark: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 (source=arg) +[2026-05-26 01:03:56,002] INFO No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +[nltk_data] Downloading package wordnet to /home/yuanpei/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /home/yuanpei/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +[2026-05-26 01:04:10,235] INFO ResourceManager (R2RemoteStorage('https://pub-3555e9bb2d304fab9c6c79819e48aa40.r2.dev')) using: + symlink_dir=/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets + cache_dir=/home/yuanpei/.cache/molmo-spaces-resources + force_install=True +/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py:129: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +[2026-05-26 01:04:38,695] INFO Requested MolmoSpaces simulator cameras: ['droid_shoulder_light_randomization', 'wrist_camera_zed_mini'] +[2026-05-26 01:04:38,703] INFO Using save_video_sensors=['__none__'] +[2026-05-26 01:04:42,217] INFO Resolved MolmoSpaces action semantics from checkpoint: source=pnp_next_to_v2 type=molmo_raw arm_action_key=joint_pos_rel gripper_action_key=joint_pos action_type=joint_pos_rel arm_command_mode=joint_rel_position +[2026-05-26 01:04:42,379] INFO Using explicit task_horizon override: 450 steps +[05/26 01:04:42 INFO pipeline.py:677] WandB logging disabled (environment variables not set) +[2026-05-26 01:04:42,493] INFO JsonEvalRunner initialized: 36 houses, 41 episodes from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 01:04:42 INFO pipeline.py:1279] Starting house-by-house rollout of 36 houses with 2 episodes each (72 total episodes) using 1 worker processes +[05/26 01:04:42 INFO pipeline.py:1286] Evaluation configuration: +[05/26 01:04:42 INFO pipeline.py:1287] {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['droid_shoulder_light_randomization', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 'wan_molmobot_franka', + 'obs_camera_name': 'droid_shoulder_light_randomization', + 'obs_image_key': 'rgb_head', + 'obs_state_key': 'robot_state', + 'obs_wrist_camera_name': 'wrist_camera_zed_mini', + 'obs_wrist_image_key': 'rgb_wrist', + 'policy_cls': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [3934, + 3947, + 3991, + 4021, + 4079, + 4144, + 4213, + 4289, + 4303, + 4347, + 4382, + 4423, + 4493, + 4545, + 4600, + 4644, + 4702, + 4727, + 4742, + 4773, + 4807, + 4860, + 4933, + 4983, + 5023, + 5048, + 5116, + 5165, + 5219, + 5291, + 5361, + 5390, + 5428, + 5473, + 5495, + 5540], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} +[2026-05-26 01:04:42,504] INFO Saved experiment configuration to /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442 +[05/26 01:04:42 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler +[05/26 01:04:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/26 01:04:42 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler +[05/26 01:04:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3934 (index 0/36) +[05/26 01:04:42 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 3934 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 01:04:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +[05/26 01:05:19 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingventcover_c56ee3f7d606481bb4aaedc4250b097e_1_0_5 in scene +[05/26 01:05:19 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingventcover_c56ee3f7d606481bb4aaedc4250b097e_2_0_5 in scene +[05/26 01:05:19 Worker 0 WARNING object_manager.py:1238] Could not find object statue_c1ca41050692ad4a2d2e80d2a1b1ad5f_1_0_8 in scene +2026-05-26 01:06:22.046 | INFO | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0 +[2026-05-26 01:06:56,854] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k) +[2026-05-26 01:06:59,744] INFO [timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k] Safe alternative available for 'pytorch_model.bin' (as 'model.safetensors'). Loading weights using safetensors. +[2026-05-26 01:09:03,079] INFO Number of parameters in DiT: 1.821428e+07 +[2026-05-26 01:09:06,702] INFO Loaded generic psi-policy checkpoint | target=psi_policy.policy.psi_policy.PsiPolicy | obs_keys=['rgb_head', 'rgb_wrist', 'robot_state', 'text_context'] | action_horizon=16 | action_dim=8 +[2026-05-26 01:09:06,706] INFO Loaded MolmoSpaces policy | checkpoint=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt | target=psi_policy.policy.psi_policy.PsiPolicy | device=cuda:0 | action_chunk_size=8 +[05/26 01:09:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:14:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 3934 episode 0 object objacanopener_59a4d5ccb6cb449ab0b2c6ab2be80d2e_1_0_6 completed with success=False +[05/26 01:14:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +[05/26 01:16:26 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingventcover_c56ee3f7d606481bb4aaedc4250b097e_1_0_5 in scene +[05/26 01:16:26 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingventcover_c56ee3f7d606481bb4aaedc4250b097e_2_0_5 in scene +[05/26 01:16:26 Worker 0 WARNING object_manager.py:1238] Could not find object statue_c1ca41050692ad4a2d2e80d2a1b1ad5f_1_0_8 in scene +[05/26 01:20:49 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:25:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 3934 episode 1 object objacanopener_8237129bfae244d7a62d706937f9f106_1_0_6 completed with success=False +[05/26 01:25:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3934: 2 episodes +[05/26 01:25:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:25:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:25:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:25:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:25:17 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_3934 +[05/26 01:25:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3934 in 4.34s (batch: 4.14s, save: 0.20s) +[05/26 01:25:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3934 +[05/26 01:25:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3934: 0/2 successful episodes +[05/26 01:25:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3947 (index 1/36) +[05/26 01:25:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3947 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 01:25:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/53 [00:00 does not support tracking retries. +[2026-05-26 01:32:45,616] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/huggingface_hub/file_download.py:945: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`. + warnings.warn( +[05/26 01:37:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 3947 episode 0 object objametalloop_25c41058e5f24271808b14c0ac40a02a_1_0_8 completed with success=False +[05/26 01:37:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3947: 1 episodes +[05/26 01:37:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:37:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:37:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_3947 +[05/26 01:37:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3947 in 2.67s (batch: 2.54s, save: 0.13s) +[05/26 01:37:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3947 +[05/26 01:37:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3947: 0/1 successful episodes +[05/26 01:37:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3991 (index 2/36) +[05/26 01:37:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3991 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 01:37:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +[2026-05-26 01:40:06,633] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 01:41:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:44:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 3991 episode 0 object objapuzzlepiece_8882000196234ce7aefd64b149f3064e_1_0_6 completed with success=False +[05/26 01:44:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3991: 1 episodes +[05/26 01:44:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:44:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:44:38 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_3991 +[05/26 01:44:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3991 in 2.12s (batch: 2.03s, save: 0.09s) +[05/26 01:44:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3991 +[05/26 01:44:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3991: 0/1 successful episodes +[05/26 01:44:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4021 (index 3/36) +[05/26 01:44:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4021 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 01:44:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/26 [00:00 does not support tracking retries. +[2026-05-26 01:56:35,953] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 01:57:39 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:00:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 4021 episode 0 object objasportsvisor_2fe424987e594148959acafbebe79f41_1_0_7 completed with success=False +[05/26 02:00:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4021: 1 episodes +[05/26 02:00:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:00:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:00:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4021 +[05/26 02:00:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4021 in 3.42s (batch: 3.27s, save: 0.15s) +[05/26 02:00:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4021 +[05/26 02:00:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4021: 0/1 successful episodes +[05/26 02:00:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4079 (index 4/36) +[05/26 02:00:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4079 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 02:00:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[2026-05-26 02:03:54,646] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:09:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 4079 episode 0 object objabutterflyknife_be05554b77de495ea5e92d3bcb7730fa_1_0_8 completed with success=False +[05/26 02:09:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4079: 1 episodes +[05/26 02:09:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:09:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:09:28 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4079 +[05/26 02:09:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4079 in 3.59s (batch: 3.39s, save: 0.20s) +[05/26 02:09:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4079 +[05/26 02:09:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4079: 0/1 successful episodes +[05/26 02:09:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4144 (index 5/36) +[05/26 02:09:29 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4144 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 02:09:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/62 [00:00 does not support tracking retries. +[05/26 02:09:44 Worker 0 WARNING object_manager.py:1238] Could not find object objashoe_ca4b35d9115e458f8f4c22dfb3d73f7b_1_0_9 in scene +[05/26 02:09:44 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_973bce9435d852757b03afc168e4c1df_1_0_9 in scene +[2026-05-26 02:11:46,895] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:16:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 4144 episode 0 object objadentures_db38ff23dc534a8c8d27a1107904ef94_1_0_9 completed with success=False +[05/26 02:16:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4144: 1 episodes +[05/26 02:16:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:16:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:16:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4144 +[05/26 02:16:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4144 in 3.34s (batch: 3.22s, save: 0.12s) +[05/26 02:16:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4144 +[05/26 02:16:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4144: 0/1 successful episodes +[05/26 02:16:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4213 (index 6/36) +[05/26 02:16:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4213 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 02:16:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/44 [00:00 does not support tracking retries. +[2026-05-26 02:18:43,955] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:24:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 4213 episode 0 object objaplayingcard_c57676d9c0444741baf5a1154af6bc9b_1_0_6 completed with success=False +[05/26 02:24:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4213: 1 episodes +[05/26 02:24:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:24:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:24:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4213 +[05/26 02:24:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4213 in 4.29s (batch: 4.17s, save: 0.12s) +[05/26 02:24:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4213 +[05/26 02:24:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4213: 0/1 successful episodes +[05/26 02:24:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4289 (index 7/36) +[05/26 02:24:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4289 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 02:24:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/25 [00:00 does not support tracking retries. +[2026-05-26 02:27:11,648] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:32:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 4289 episode 0 object objaspinningtop_c1badded9748431db08a9c969d3fea5e_1_0_7 completed with success=False +[05/26 02:32:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4289: 1 episodes +[05/26 02:32:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:32:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:32:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4289 +[05/26 02:32:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4289 in 2.89s (batch: 2.76s, save: 0.13s) +[05/26 02:32:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4289 +[05/26 02:32:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4289: 0/1 successful episodes +[05/26 02:32:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4303 (index 8/36) +[05/26 02:32:37 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4303 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 02:32:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/26 02:32:47 Worker 0 WARNING object_manager.py:1238] Could not find object egg_aeca24b46189bee76c22ec0349729d60_1_0_8 in scene +[2026-05-26 02:34:59,042] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:35:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:45:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 4303 episode 0 object objacomputerkeyboard_51f63167c849450a89b65fcd7d81e8f7_1_0_6 completed with success=False +[05/26 02:45:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/26 02:45:38 Worker 0 WARNING object_manager.py:1238] Could not find object egg_aeca24b46189bee76c22ec0349729d60_1_0_8 in scene +[2026-05-26 02:47:55,367] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:49:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:53:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 4303 episode 1 object objaneedlenosepliers_0079418517784f2bbf0aec6fd8de3cde_1_0_8 completed with success=False +[05/26 02:53:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4303: 2 episodes +[05/26 02:53:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:53:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:53:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:53:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:53:47 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4303 +[05/26 02:53:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4303 in 6.55s (batch: 6.21s, save: 0.35s) +[05/26 02:53:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4303 +[05/26 02:53:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4303: 0/2 successful episodes +[05/26 02:53:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4347 (index 9/36) +[05/26 02:53:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4347 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 02:53:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/18 [00:00 does not support tracking retries. +[05/26 02:53:54 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_3 in scene +[2026-05-26 02:56:16,490] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:57:48 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:01:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 4347 episode 0 object objamountingbracket_89c52ab7b8f149369c832713bad2203c_1_0_2 completed with success=False +[05/26 03:01:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4347: 1 episodes +[05/26 03:01:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:01:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:01:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4347 +[05/26 03:01:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4347 in 3.76s (batch: 3.54s, save: 0.22s) +[05/26 03:01:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4347 +[05/26 03:01:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4347: 0/1 successful episodes +[05/26 03:01:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4382 (index 10/36) +[05/26 03:01:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4382 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 03:01:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +[2026-05-26 03:04:16,696] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:05:48 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:13:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 4382 episode 0 object objastoneblock_7a500b5f08d349f09cb3855ed029e6fa_1_0_5 completed with success=False +[05/26 03:13:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4382: 1 episodes +[05/26 03:13:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:13:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:13:12 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4382 +[05/26 03:13:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4382 in 3.59s (batch: 3.36s, save: 0.23s) +[05/26 03:13:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4382 +[05/26 03:13:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4382: 0/1 successful episodes +[05/26 03:13:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4423 (index 11/36) +[05/26 03:13:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4423 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 03:13:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +[2026-05-26 03:15:23,869] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:15:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:20:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 4423 episode 0 object objamannequinhand_9507be033ab14d248bc3479e16927993_1_0_4 completed with success=False +[05/26 03:20:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4423: 1 episodes +[05/26 03:20:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:20:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:20:15 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4423 +[05/26 03:20:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4423 in 2.88s (batch: 2.73s, save: 0.15s) +[05/26 03:20:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4423 +[05/26 03:20:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4423: 0/1 successful episodes +[05/26 03:20:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4493 (index 12/36) +[05/26 03:20:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4493 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 03:20:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +[05/26 03:20:29 Worker 0 WARNING object_manager.py:1238] Could not find object objapendantnecklace_11a5d7ca6f1e43a2a8ee668935acfb1e_1_0_7 in scene +[05/26 03:20:29 Worker 0 WARNING object_manager.py:1238] Could not find object objadentures_db38ff23dc534a8c8d27a1107904ef94_2_0_7 in scene +[05/26 03:20:29 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_7 in scene +[2026-05-26 03:22:20,448] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:25:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 4493 episode 0 object objanoveltycard_8e6f2b6b96e24c6096116eb97376abff_1_0_4 completed with success=False +[05/26 03:25:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4493: 1 episodes +[05/26 03:25:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:25:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:25:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4493 +[05/26 03:25:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4493 in 2.55s (batch: 2.39s, save: 0.16s) +[05/26 03:25:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4493 +[05/26 03:25:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4493: 0/1 successful episodes +[05/26 03:25:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4545 (index 13/36) +[05/26 03:25:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4545 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 03:25:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +[05/26 03:25:42 Worker 0 WARNING object_manager.py:1238] Could not find object objacleaningsponge_f173c4e92f854efe86fa939466e08e4b_1_0_5 in scene +[05/26 03:25:42 Worker 0 WARNING object_manager.py:1238] Could not find object objapocketwatch_dbb40c6f9226401f88230d46a12fa50f_1_0_5 in scene +[05/26 03:25:42 Worker 0 WARNING object_manager.py:1238] Could not find object objalogo_de1cf01f0b664aa5bc031db15d7686d2_1_0_6 in scene +[05/26 03:25:42 Worker 0 WARNING object_manager.py:1238] Could not find object plate_3c4427455eeccda33c6e6db585f41627_1_0_6 in scene +[05/26 03:25:42 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturemodel_5ab1392182d345b49b3391f7776339e9_1_0_6 in scene +[05/26 03:25:42 Worker 0 WARNING object_manager.py:1238] Could not find object objapastry_76c0179636324a60bcf8cda8496a1fc7_1_0_6 in scene +[2026-05-26 03:27:48,843] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:37:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 4545 episode 0 object objascrewdriver_240935915a744929914369cc12816ab2_1_0_7 completed with success=False +[05/26 03:37:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4545: 1 episodes +[05/26 03:37:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:37:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:37:48 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4545 +[05/26 03:37:48 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4545 in 3.18s (batch: 3.06s, save: 0.13s) +[05/26 03:37:49 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4545 +[05/26 03:37:49 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4545: 0/1 successful episodes +[05/26 03:37:49 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4600 (index 14/36) +[05/26 03:37:49 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4600 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 03:37:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +[05/26 03:38:12 Worker 0 WARNING object_manager.py:1238] Could not find object objakitchenutensil_c039015dad6245cabd9044c67ada4252_1_0_2 in scene +[05/26 03:38:12 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativesymbol_901e291f621540ab85bf50d5b6fc25de_1_0_5 in scene +[05/26 03:38:12 Worker 0 WARNING object_manager.py:1238] Could not find object objawasher_43e7ebcba34645448a997c3d03054d33_1_0_5 in scene +[05/26 03:38:12 Worker 0 WARNING object_manager.py:1238] Could not find object objanecklace_6c0291d03378411d96d26cc95e398a73_1_0_9 in scene +[05/26 03:38:12 Worker 0 WARNING object_manager.py:1238] Could not find object objadressshoe_dc620e458adb44cdb9a0878e5a7e1630_1_0_9 in scene +[2026-05-26 03:40:23,531] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:46:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 4600 episode 0 object knife_2933d9425c8587a7d4ddaae661ac7598_1_0_2 completed with success=False +[05/26 03:46:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4600: 1 episodes +[05/26 03:46:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:46:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:46:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4600 +[05/26 03:46:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4600 in 2.86s (batch: 2.77s, save: 0.09s) +[05/26 03:46:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4600 +[05/26 03:46:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4600: 0/1 successful episodes +[05/26 03:46:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4644 (index 15/36) +[05/26 03:46:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4644 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 03:46:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/6 [00:00 does not support tracking retries. +[2026-05-26 03:48:10,561] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:49:20 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:53:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 4644 episode 0 object objaicecreamcone_cc5e3d70ebba4215890504ea311252ba_1_0_2 completed with success=False +[05/26 03:53:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4644: 1 episodes +[05/26 03:53:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:53:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:53:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4644 +[05/26 03:53:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4644 in 4.43s (batch: 4.27s, save: 0.16s) +[05/26 03:53:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4644 +[05/26 03:53:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4644: 0/1 successful episodes +[05/26 03:53:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4702 (index 16/36) +[05/26 03:53:35 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4702 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 03:53:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +[2026-05-26 03:55:36,104] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:56:39 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:59:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 4702 episode 0 object objachocolatebunny_3fd78d69b770429a8a680caaa65e57e8_1_0_6 completed with success=False +[05/26 03:59:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4702: 1 episodes +[05/26 03:59:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:59:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:59:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4702 +[05/26 03:59:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4702 in 3.35s (batch: 3.23s, save: 0.13s) +[05/26 03:59:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4702 +[05/26 03:59:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4702: 0/1 successful episodes +[05/26 03:59:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4727 (index 17/36) +[05/26 03:59:53 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4727 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 03:59:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/60 [00:00 does not support tracking retries. +[05/26 04:00:11 Worker 0 WARNING object_manager.py:1238] Could not find object objamountingfixture_c45afc98ee6c4081a0091f6cb3b0ee66_1_0_4 in scene +[05/26 04:00:11 Worker 0 WARNING object_manager.py:1238] Could not find object objatoyrocket_f2c0811c3fc24bcb99a7c96acaf5a793_1_0_4 in scene +[05/26 04:00:11 Worker 0 WARNING object_manager.py:1238] Could not find object candle_1b82c5d62bcdb9c9e0fbc639fdc9e22a_1_0_4 in scene +[05/26 04:00:11 Worker 0 WARNING object_manager.py:1238] Could not find object objapocketwatch_1dbb7462a3e04e918023f6fec7743ee2_1_0_5 in scene +[2026-05-26 04:02:11,803] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:03:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:07:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 4727 episode 0 object objatoysoldier_966ecae1911843adbf05131eeb7c63cb_1_0_8 completed with success=False +[05/26 04:07:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/60 [00:00 does not support tracking retries. +[05/26 04:07:28 Worker 0 WARNING object_manager.py:1238] Could not find object objamountingfixture_c45afc98ee6c4081a0091f6cb3b0ee66_1_0_4 in scene +[05/26 04:07:28 Worker 0 WARNING object_manager.py:1238] Could not find object objatoyrocket_f2c0811c3fc24bcb99a7c96acaf5a793_1_0_4 in scene +[05/26 04:07:28 Worker 0 WARNING object_manager.py:1238] Could not find object candle_1b82c5d62bcdb9c9e0fbc639fdc9e22a_1_0_4 in scene +[05/26 04:07:28 Worker 0 WARNING object_manager.py:1238] Could not find object objapocketwatch_1dbb7462a3e04e918023f6fec7743ee2_1_0_5 in scene +[2026-05-26 04:09:07,177] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:10:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:16:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 4727 episode 1 object objacleaningsponge_afd092fac12f4ef8984b80d3d15de232_1_0_9 completed with success=False +[05/26 04:16:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4727: 2 episodes +[05/26 04:16:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:16:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:16:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:16:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:16:30 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4727 +[05/26 04:16:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4727 in 7.69s (batch: 7.33s, save: 0.36s) +[05/26 04:16:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4727 +[05/26 04:16:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4727: 0/2 successful episodes +[05/26 04:16:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4742 (index 18/36) +[05/26 04:16:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4742 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 04:16:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/8 [00:00 does not support tracking retries. +[05/26 04:16:36 Worker 0 WARNING object_manager.py:1238] Could not find object objaswitchplate_80ed82d00f494be2b5a8706d3c06c832_2_0_2 in scene +[05/26 04:16:36 Worker 0 WARNING object_manager.py:1238] Could not find object objatooth_4ec84bfdbbec4663b9a730ef943e0768_1_0_2 in scene +[2026-05-26 04:18:48,300] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:22:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 4742 episode 0 object objaswitchplate_80ed82d00f494be2b5a8706d3c06c832_1_0_2 completed with success=False +[05/26 04:22:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4742: 1 episodes +[05/26 04:22:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:22:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:22:54 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4742 +[05/26 04:22:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4742 in 2.73s (batch: 2.60s, save: 0.13s) +[05/26 04:22:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4742 +[05/26 04:22:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4742: 0/1 successful episodes +[05/26 04:22:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4773 (index 19/36) +[05/26 04:22:55 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4773 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 04:22:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +[2026-05-26 04:24:39,896] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:25:14 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:30:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 4773 episode 0 object objadigitalmusicplayer_718d4a2a12e8402faa7af85890acb08c_1_0_6 completed with success=False +[05/26 04:30:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4773: 1 episodes +[05/26 04:30:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:30:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:30:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4773 +[05/26 04:30:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4773 in 3.76s (batch: 3.63s, save: 0.14s) +[05/26 04:30:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4773 +[05/26 04:30:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4773: 0/1 successful episodes +[05/26 04:30:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4807 (index 20/36) +[05/26 04:30:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4807 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 04:30:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +[2026-05-26 04:32:20,994] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:33:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:35:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 4807 episode 0 object objawoodenstick_1bd5fecf74bf4cdb987da156d2c0ac96_1_0_2 completed with success=False +[05/26 04:36:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4807: 1 episodes +[05/26 04:36:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:36:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:36:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4807 +[05/26 04:36:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4807 in 2.95s (batch: 2.78s, save: 0.16s) +[05/26 04:36:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4807 +[05/26 04:36:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4807: 0/1 successful episodes +[05/26 04:36:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4860 (index 21/36) +[05/26 04:36:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4860 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 04:36:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +[05/26 04:36:14 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingpanel_a3d6f7df9ff94ed59f95d5086d5f3fdd_1_0_7 in scene +[2026-05-26 04:37:23,290] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:37:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:40:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 4860 episode 0 object objametalring_43d9083d869849ed9a6f6c8cbdd7ad54_1_0_4 completed with success=False +[05/26 04:40:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4860: 1 episodes +[05/26 04:40:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:40:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:40:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4860 +[05/26 04:40:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4860 in 2.79s (batch: 2.70s, save: 0.10s) +[05/26 04:40:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4860 +[05/26 04:40:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4860: 0/1 successful episodes +[05/26 04:40:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4933 (index 22/36) +[05/26 04:40:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4933 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 04:40:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +[05/26 04:40:28 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativesign_70e7e629b1a4405d8227a2f54e0973b9_1_0_2 in scene +[05/26 04:40:28 Worker 0 WARNING object_manager.py:1238] Could not find object egg_7331ece1e05e35ccf61e870ea8948aac_1_0_2 in scene +[2026-05-26 04:41:55,258] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:46:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 4933 episode 0 object objatelegraphkey_152bc6ed25b14945b6ff62a60f446334_1_0_4 completed with success=False +[05/26 04:46:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4933: 1 episodes +[05/26 04:46:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:46:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:46:19 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4933 +[05/26 04:46:19 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4933 in 3.05s (batch: 2.93s, save: 0.12s) +[05/26 04:46:20 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4933 +[05/26 04:46:20 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4933: 0/1 successful episodes +[05/26 04:46:20 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4983 (index 23/36) +[05/26 04:46:20 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4983 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 04:46:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[2026-05-26 04:48:40,328] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:54:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 4983 episode 0 object objagavel_2ae6147628c04ac7a28bfe2b5982b4c3_1_0_6 completed with success=False +[05/26 04:54:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4983: 1 episodes +[05/26 04:54:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:54:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:54:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_4983 +[05/26 04:54:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4983 in 3.08s (batch: 2.99s, save: 0.09s) +[05/26 04:54:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4983 +[05/26 04:54:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4983: 0/1 successful episodes +[05/26 04:54:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5023 (index 24/36) +[05/26 04:54:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5023 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 04:54:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/26 04:54:32 Worker 0 WARNING object_manager.py:1238] Could not find object objacrystalcluster_5cfc211a49164bf2835a121b5069ee08_1_0_7 in scene +[05/26 04:54:32 Worker 0 WARNING object_manager.py:1238] Could not find object objamarkerpen_9ded8666275148929a57190ab939c735_1_0_7 in scene +[2026-05-26 04:55:46,274] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:56:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:00:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 5023 episode 0 object objanetworkswitch_94d0fae6892d48399d1a42a4313c0184_1_0_4 completed with success=False +[05/26 05:00:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5023: 1 episodes +[05/26 05:00:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:00:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:00:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5023 +[05/26 05:00:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5023 in 3.24s (batch: 2.92s, save: 0.32s) +[05/26 05:00:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5023 +[05/26 05:00:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5023: 0/1 successful episodes +[05/26 05:00:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5048 (index 25/36) +[05/26 05:00:31 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 5048 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 05:00:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +[05/26 05:00:39 Worker 0 WARNING object_manager.py:1238] Could not find object objapuzzle_c96dad7a8d9f459e83a1cbeeb7370d55_1_0_3 in scene +[2026-05-26 05:02:29,313] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:07:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 5048 episode 0 object objaprintedcircuitboard_0c1eb50df8de4c2d9d4d694014204d86_1_0_6 completed with success=False +[05/26 05:07:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +[05/26 05:07:22 Worker 0 WARNING object_manager.py:1238] Could not find object objapuzzle_c96dad7a8d9f459e83a1cbeeb7370d55_1_0_3 in scene +[2026-05-26 05:09:30,956] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:16:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 5048 episode 1 object objatoysoldier_8f055c6314cd4e6cb1f4236d145f5179_1_0_4 completed with success=False +[05/26 05:16:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5048: 2 episodes +[05/26 05:16:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:16:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:16:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:16:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:16:33 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5048 +[05/26 05:16:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5048 in 7.16s (batch: 6.76s, save: 0.40s) +[05/26 05:16:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5048 +[05/26 05:16:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5048: 0/2 successful episodes +[05/26 05:16:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5116 (index 26/36) +[05/26 05:16:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5116 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 05:16:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +[2026-05-26 05:18:53,243] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:19:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:23:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 5116 episode 0 object objamoviecamera_64bd72851ef349ef9cd24403df1789ad_1_0_7 completed with success=False +[05/26 05:23:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5116: 1 episodes +[05/26 05:23:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:23:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:23:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5116 +[05/26 05:23:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5116 in 3.79s (batch: 3.63s, save: 0.16s) +[05/26 05:23:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5116 +[05/26 05:23:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5116: 0/1 successful episodes +[05/26 05:23:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5165 (index 27/36) +[05/26 05:23:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5165 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 05:23:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[2026-05-26 05:26:10,884] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:27:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:31:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 5165 episode 0 object objakendama_66f39ae4147c4fe2ae6d80baf2472e15_1_0_3 completed with success=False +[05/26 05:31:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5165: 1 episodes +[05/26 05:31:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:31:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:31:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5165 +[05/26 05:31:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5165 in 3.22s (batch: 3.08s, save: 0.13s) +[05/26 05:31:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5165 +[05/26 05:31:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5165: 0/1 successful episodes +[05/26 05:31:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5219 (index 28/36) +[05/26 05:31:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5219 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 05:31:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +[05/26 05:31:53 Worker 0 WARNING object_manager.py:1238] Could not find object objainsect_016576dd30c1464f9115584748950ed2_1_0_2 in scene +[05/26 05:31:53 Worker 0 WARNING object_manager.py:1238] Could not find object apple_1d4990dc37d751a859248eaa9d6ecea0_1_0_2 in scene +[2026-05-26 05:34:11,341] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:35:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:38:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 5219 episode 0 object objaaerosolcan_d31366b00ec64a42a05c1eb8a49f346c_1_0_3 completed with success=False +[05/26 05:38:50 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5219: 1 episodes +[05/26 05:38:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:38:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:38:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5219 +[05/26 05:38:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5219 in 3.11s (batch: 2.99s, save: 0.13s) +[05/26 05:38:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5219 +[05/26 05:38:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5219: 0/1 successful episodes +[05/26 05:38:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5291 (index 29/36) +[05/26 05:38:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5291 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 05:38:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +[05/26 05:39:08 Worker 0 WARNING object_manager.py:1238] Could not find object objatapedispenser_2988a85fdf0f4a679b17335bd8e26871_1_0_7 in scene +[2026-05-26 05:41:07,643] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:42:10 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:48:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 5291 episode 0 object objafoodpacket_58ff4a1e3fb24fbca6989f9b6d1fe23e_1_0_8 completed with success=False +[05/26 05:48:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5291: 1 episodes +[05/26 05:48:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:48:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:48:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5291 +[05/26 05:48:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5291 in 3.69s (batch: 3.53s, save: 0.16s) +[05/26 05:48:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5291 +[05/26 05:48:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5291: 0/1 successful episodes +[05/26 05:48:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5361 (index 30/36) +[05/26 05:48:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5361 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 05:48:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +[2026-05-26 05:50:28,379] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:51:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:57:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 5361 episode 0 object Irishpotato_e1aace659043c0d77e47a9e124a3b2b8_1_0_6 completed with success=False +[05/26 05:57:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5361: 1 episodes +[05/26 05:57:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:57:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:57:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5361 +[05/26 05:57:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5361 in 2.27s (batch: 2.17s, save: 0.10s) +[05/26 05:57:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5361 +[05/26 05:57:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5361: 0/1 successful episodes +[05/26 05:57:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5390 (index 31/36) +[05/26 05:57:21 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 5390 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 05:57:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +[2026-05-26 05:58:58,538] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:59:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:02:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 5390 episode 0 object objavideocamera_3bd48bc193c54407a7ffdbea3c37a4d6_1_0_7 completed with success=False +[05/26 06:02:08 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +[2026-05-26 06:03:21,298] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:04:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:10:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 5390 episode 1 object objamug_8529afb010814c188970381c3596afef_1_0_6 completed with success=False +[05/26 06:11:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5390: 2 episodes +[05/26 06:11:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:11:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:11:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:11:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:11:14 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5390 +[05/26 06:11:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5390 in 8.89s (batch: 8.59s, save: 0.31s) +[05/26 06:11:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5390 +[05/26 06:11:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5390: 0/2 successful episodes +[05/26 06:11:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5428 (index 32/36) +[05/26 06:11:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5428 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 06:11:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/27 [00:00 does not support tracking retries. +[05/26 06:11:26 Worker 0 WARNING object_manager.py:1238] Could not find object objatrackshoe_de9588f97f644bd689fc6502f262575d_1_0_5 in scene +[05/26 06:11:26 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene +[2026-05-26 06:13:39,984] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:14:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:25:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 5428 episode 0 object objawasher_43e7ebcba34645448a997c3d03054d33_1_0_5 completed with success=False +[05/26 06:25:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5428: 1 episodes +[05/26 06:25:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:25:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:25:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5428 +[05/26 06:25:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5428 in 3.70s (batch: 3.59s, save: 0.12s) +[05/26 06:25:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5428 +[05/26 06:25:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5428: 0/1 successful episodes +[05/26 06:25:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5473 (index 33/36) +[05/26 06:25:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5473 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 06:25:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/26 06:25:51 Worker 0 WARNING object_manager.py:1238] Could not find object cellulartelephone_1fa394556eb37156656d60fc604d4668_1_0_4 in scene +[05/26 06:25:51 Worker 0 WARNING object_manager.py:1238] Could not find object objaicecreamcone_b7b9fd6fcea7401f88142168ef6616b4_1_0_8 in scene +[05/26 06:25:51 Worker 0 WARNING object_manager.py:1238] Could not find object tomato_b4fe73bc978b2372694676fd9d6ef462_1_0_8 in scene +[2026-05-26 06:27:04,688] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:27:34 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:32:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 5473 episode 0 object objachocolatebarpackage_c4e4135658354eaa8b72810dbae0270a_1_0_8 completed with success=False +[05/26 06:32:58 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5473: 1 episodes +[05/26 06:32:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:33:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:33:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5473 +[05/26 06:33:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5473 in 3.13s (batch: 3.03s, save: 0.10s) +[05/26 06:33:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5473 +[05/26 06:33:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5473: 0/1 successful episodes +[05/26 06:33:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5495 (index 34/36) +[05/26 06:33:02 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5495 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 06:33:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[2026-05-26 06:34:15,122] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:34:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:38:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 5495 episode 0 object objasolderingiron_fb480380d29144e7a2a6437208d10d72_1_0_7 completed with success=False +[05/26 06:38:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5495: 1 episodes +[05/26 06:38:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:38:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:38:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5495 +[05/26 06:38:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5495 in 3.10s (batch: 2.95s, save: 0.15s) +[05/26 06:38:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5495 +[05/26 06:38:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5495: 0/1 successful episodes +[05/26 06:38:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5540 (index 35/36) +[05/26 06:38:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5540 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_01 +[05/26 06:38:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +[2026-05-26 06:40:35,972] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:41:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:45:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 5540 episode 0 object objadigitalmusicplayer_718d4a2a12e8402faa7af85890acb08c_1_0_2 completed with success=False +[05/26 06:45:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5540: 1 episodes +[05/26 06:45:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:45:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:45:57 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010442/house_5540 +[05/26 06:45:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5540 in 2.17s (batch: 2.08s, save: 0.09s) +[05/26 06:45:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5540 +[05/26 06:45:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5540: 0/1 successful episodes +[05/26 06:45:57 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses +[05/26 06:45:58 INFO pipeline.py:1496] Completed 36 houses, skipped 0 houses +[05/26 06:45:58 INFO pipeline.py:1499] Success count: 0, Total count: 41 +[05/26 06:45:58 INFO pipeline.py:1500] Success rate: 0.00% +Combined 41 episodes from 36 files → /tmp/tmpif31nlmf.h5 + +Saved → /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/results.csv at-end: 0.0% | oracle: 0.0% of 41 episodes +[2026-05-26 06:46:02,148] INFO MolmoSpaces simulator eval finished: success=0/41 rate=0.0000 output=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval +[2026-05-26 06:46:02,148] INFO Benchmark CSV: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval/results.csv + +Submission artifacts ready: + CSV : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/submission/results.csv + Bundle zip : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/submission_bundle.zip + Summary : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/submission/summary.json + Full eval output : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/eval + Repro command : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_01/run_command.sh diff --git a/pnp_v2/pnp_v2/submission/shard_02.launcher.log b/pnp_v2/pnp_v2/submission/shard_02.launcher.log new file mode 100644 index 0000000000000000000000000000000000000000..2772a41fa240005e9afcf65c3a5a1fea25579adb --- /dev/null +++ b/pnp_v2/pnp_v2/submission/shard_02.launcher.log @@ -0,0 +1,1447 @@ +================================================================================ +Official MolmoSpaces Submission Run +================================================================================ +Checkpoint : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt +Benchmark dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +Output root : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02 +Eval output dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval +Submission dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/submission +Conda env : molmospace +Policy name : latest +Policy device : cuda:0 +Text embedding device : cpu +Prompt cache dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan +Workers : 1 +Task horizon steps : 450 +Action chunk size : 8 +Obs camera : droid_shoulder_light_randomization +Obs wrist camera : wrist_camera_zed_mini +Camera names : droid_shoulder_light_randomization wrist_camera_zed_mini +Preview camera names : droid_shoulder_light_randomization +End on success : 1 +Visualization : 0 +Save raw videos : 0 +Save video sensors : __none__ +Success condition (CSV) : both + +Official runner : molmo_spaces.evaluation.run_evaluation() +CSV exporter : molmospaces/scripts/benchmarks/eval_to_csv.py + +Command +conda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament +================================================================================ +[2026-05-26 01:03:53,183] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath'] +[2026-05-26 01:03:53,257] INFO Selected MuJoCo backend: egl +[2026-05-26 01:03:53,269] INFO Using MolmoSpaces benchmark: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 (source=arg) +[2026-05-26 01:03:56,049] INFO No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +[nltk_data] Downloading package wordnet to /home/yuanpei/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /home/yuanpei/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +[2026-05-26 01:04:18,740] INFO ResourceManager (R2RemoteStorage('https://pub-3555e9bb2d304fab9c6c79819e48aa40.r2.dev')) using: + symlink_dir=/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets + cache_dir=/home/yuanpei/.cache/molmo-spaces-resources + force_install=True +/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py:129: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +[2026-05-26 01:04:48,845] INFO Requested MolmoSpaces simulator cameras: ['droid_shoulder_light_randomization', 'wrist_camera_zed_mini'] +[2026-05-26 01:04:48,848] INFO Using save_video_sensors=['__none__'] +[2026-05-26 01:04:52,542] INFO Resolved MolmoSpaces action semantics from checkpoint: source=pnp_next_to_v2 type=molmo_raw arm_action_key=joint_pos_rel gripper_action_key=joint_pos action_type=joint_pos_rel arm_command_mode=joint_rel_position +[2026-05-26 01:04:52,644] INFO Using explicit task_horizon override: 450 steps +[05/26 01:04:52 INFO pipeline.py:677] WandB logging disabled (environment variables not set) +[2026-05-26 01:04:52,697] INFO JsonEvalRunner initialized: 35 houses, 39 episodes from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 01:04:52 INFO pipeline.py:1279] Starting house-by-house rollout of 35 houses with 2 episodes each (70 total episodes) using 1 worker processes +[05/26 01:04:52 INFO pipeline.py:1286] Evaluation configuration: +[05/26 01:04:52 INFO pipeline.py:1287] {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['droid_shoulder_light_randomization', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 'wan_molmobot_franka', + 'obs_camera_name': 'droid_shoulder_light_randomization', + 'obs_image_key': 'rgb_head', + 'obs_state_key': 'robot_state', + 'obs_wrist_camera_name': 'wrist_camera_zed_mini', + 'obs_wrist_image_key': 'rgb_wrist', + 'policy_cls': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [3935, + 3954, + 3992, + 4025, + 4085, + 4150, + 4231, + 4290, + 4334, + 4350, + 4383, + 4425, + 4500, + 4549, + 4615, + 4661, + 4705, + 4745, + 4781, + 4783, + 4809, + 4870, + 4947, + 4986, + 5045, + 5059, + 5128, + 5169, + 5232, + 5297, + 5384, + 5431, + 5474, + 5505, + 5541], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} +[2026-05-26 01:04:52,720] INFO Saved experiment configuration to /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452 +[05/26 01:04:52 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler +[05/26 01:04:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/26 01:04:52 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler +[05/26 01:04:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3935 (index 0/35) +[05/26 01:04:52 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 3935 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 01:04:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +[05/26 01:05:16 Worker 0 WARNING object_manager.py:1238] Could not find object objamarkerstand_4b59e422673a438685b77375029f7926_1_0_5 in scene +[05/26 01:05:16 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeemblem_f22bbabd422c43ccba260d2f43bd7d80_1_0_5 in scene +2026-05-26 01:05:17.833 | INFO | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0 +[2026-05-26 01:05:44,336] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k) +[2026-05-26 01:05:46,017] INFO [timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k] Safe alternative available for 'pytorch_model.bin' (as 'model.safetensors'). Loading weights using safetensors. +[2026-05-26 01:07:40,727] INFO Number of parameters in DiT: 1.821428e+07 +[2026-05-26 01:07:58,408] INFO Loaded generic psi-policy checkpoint | target=psi_policy.policy.psi_policy.PsiPolicy | obs_keys=['rgb_head', 'rgb_wrist', 'robot_state', 'text_context'] | action_horizon=16 | action_dim=8 +[2026-05-26 01:07:58,411] INFO Loaded MolmoSpaces policy | checkpoint=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt | target=psi_policy.policy.psi_policy.PsiPolicy | device=cuda:0 | action_chunk_size=8 +[05/26 01:08:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:14:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 3935 episode 0 object objapackagedfood_47feb02b3b2b4f2e8c7154d3682817a2_1_0_6 completed with success=False +[05/26 01:14:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +[05/26 01:16:16 Worker 0 WARNING object_manager.py:1238] Could not find object objamarkerstand_4b59e422673a438685b77375029f7926_1_0_5 in scene +[05/26 01:16:16 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeemblem_f22bbabd422c43ccba260d2f43bd7d80_1_0_5 in scene +[05/26 01:20:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 3935 episode 1 object objacompass_8de466ea26ab43cdadcf67d86344052a_1_0_4 completed with success=False +[05/26 01:20:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3935: 2 episodes +[05/26 01:20:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:20:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:20:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:20:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:20:51 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_3935 +[05/26 01:20:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3935 in 9.01s (batch: 8.64s, save: 0.36s) +[05/26 01:20:52 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3935 +[05/26 01:20:52 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3935: 0/2 successful episodes +[05/26 01:20:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3954 (index 1/35) +[05/26 01:20:52 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3954 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 01:20:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/7 [00:00 does not support tracking retries. +[05/26 01:22:04 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:25:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 3954 episode 0 object Irishpotato_361f25dfd6f7907d2065fffb6e0c6649_1_0_2 completed with success=False +[05/26 01:25:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3954: 1 episodes +[05/26 01:25:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:25:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:25:12 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_3954 +[05/26 01:25:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3954 in 2.39s (batch: 2.30s, save: 0.09s) +[05/26 01:25:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3954 +[05/26 01:25:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3954: 0/1 successful episodes +[05/26 01:25:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3992 (index 2/35) +[05/26 01:25:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3992 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 01:25:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/26 01:30:44 Worker 0 WARNING object_manager.py:1238] Could not find object objasyringe_0720be3e0ae84b319e90e6c7986e27dd_1_0_4 in scene +[05/26 01:30:44 Worker 0 WARNING object_manager.py:1238] Could not find object plate_3a462adb63be096cddd3c836fdb52686_1_0_4 in scene +[05/26 01:30:44 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaper_903ed803932340b19104cf5232c5dcc4_1_0_5 in scene +[05/26 01:30:44 Worker 0 WARNING object_manager.py:1238] Could not find object objasponge_5527fc83613a4653b35a3c1a75bee9a5_1_0_5 in scene +[2026-05-26 01:31:46,132] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/huggingface_hub/file_download.py:945: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`. + warnings.warn( +[05/26 01:35:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 3992 episode 0 object objaclimbingshoe_6612b1e3ee2b4e08952f6bf2b26bd75a_1_0_5 completed with success=False +[05/26 01:36:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3992: 1 episodes +[05/26 01:36:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:36:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:36:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_3992 +[05/26 01:36:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3992 in 3.51s (batch: 3.27s, save: 0.24s) +[05/26 01:36:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3992 +[05/26 01:36:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3992: 0/1 successful episodes +[05/26 01:36:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4025 (index 3/35) +[05/26 01:36:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4025 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 01:36:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[2026-05-26 01:38:27,687] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 01:42:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 4025 episode 0 object objacan_e0976ef0e465417a816b142387f41765_1_0_6 completed with success=False +[05/26 01:42:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4025: 1 episodes +[05/26 01:42:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:42:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:42:24 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4025 +[05/26 01:42:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4025 in 2.84s (batch: 2.66s, save: 0.18s) +[05/26 01:42:25 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4025 +[05/26 01:42:25 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4025: 0/1 successful episodes +[05/26 01:42:25 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4085 (index 4/35) +[05/26 01:42:25 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4085 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 01:42:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/27 [00:00 does not support tracking retries. +[2026-05-26 01:45:26,358] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 01:45:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:47:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 4085 episode 0 object objadecorativetext_55e23bd0f4014b90be7d1a5bc9a69172_1_0_4 completed with success=False +[05/26 01:47:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4085: 1 episodes +[05/26 01:47:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:47:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:47:49 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4085 +[05/26 01:47:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4085 in 2.30s (batch: 2.21s, save: 0.09s) +[05/26 01:47:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4085 +[05/26 01:47:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4085: 0/1 successful episodes +[05/26 01:47:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4150 (index 5/35) +[05/26 01:47:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4150 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 01:47:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/34 [00:00 does not support tracking retries. +[2026-05-26 01:56:32,155] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 01:57:25 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:00:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 4150 episode 0 object objanecklace_b4d304759a1b49849f84e53a31190c7c_1_0_5 completed with success=False +[05/26 02:00:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4150: 1 episodes +[05/26 02:00:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:00:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:00:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4150 +[05/26 02:00:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4150 in 3.48s (batch: 3.35s, save: 0.13s) +[05/26 02:00:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4150 +[05/26 02:00:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4150: 0/1 successful episodes +[05/26 02:00:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4231 (index 6/35) +[05/26 02:00:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4231 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 02:00:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +[2026-05-26 02:02:56,842] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:04:13 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:10:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 4231 episode 0 object objaadjustablewrench_920576578b384b27b5c3e9bf36220c88_1_0_3 completed with success=False +[05/26 02:10:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4231: 1 episodes +[05/26 02:10:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:10:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:10:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4231 +[05/26 02:10:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4231 in 3.96s (batch: 3.78s, save: 0.18s) +[05/26 02:10:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4231 +[05/26 02:10:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4231: 0/1 successful episodes +[05/26 02:10:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4290 (index 7/35) +[05/26 02:10:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4290 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 02:10:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +[05/26 02:10:50 Worker 0 WARNING object_manager.py:1238] Could not find object objametalsign_f46108fac0e4484aa085bdb0123dd7c7_1_0_8 in scene +[2026-05-26 02:12:46,846] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:17:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 4290 episode 0 object objatoytraincar_c5f7b90d80aa4ae18100ed5616179406_1_0_3 completed with success=False +[05/26 02:18:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4290: 1 episodes +[05/26 02:18:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:18:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:18:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4290 +[05/26 02:18:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4290 in 2.83s (batch: 2.70s, save: 0.13s) +[05/26 02:18:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4290 +[05/26 02:18:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4290: 0/1 successful episodes +[05/26 02:18:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4334 (index 8/35) +[05/26 02:18:04 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4334 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 02:18:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[05/26 02:18:23 Worker 0 WARNING object_manager.py:1238] Could not find object objagamingconsole_0b101590f1e34ee39fe7cfeb7264c22d_1_0_7 in scene +[2026-05-26 02:20:16,768] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:20:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:27:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 4334 episode 0 object objadoorlock_3d56a40e1bae492b89072f71651d2d63_1_0_9 completed with success=False +[05/26 02:27:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[05/26 02:27:31 Worker 0 WARNING object_manager.py:1238] Could not find object objagamingconsole_0b101590f1e34ee39fe7cfeb7264c22d_1_0_7 in scene +[2026-05-26 02:29:51,660] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:35:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 4334 episode 1 object objadecorativewand_612582bc490a4353ba468a9839bf9119_1_0_8 completed with success=False +[05/26 02:35:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4334: 2 episodes +[05/26 02:35:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:35:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:35:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:35:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:35:19 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4334 +[05/26 02:35:19 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4334 in 6.35s (batch: 6.10s, save: 0.25s) +[05/26 02:35:20 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4334 +[05/26 02:35:20 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4334: 0/2 successful episodes +[05/26 02:35:20 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4350 (index 9/35) +[05/26 02:35:20 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4350 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 02:35:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +[05/26 02:35:35 Worker 0 WARNING object_manager.py:1238] Could not find object objaspraycan_f761c777f54e414dba0b54dbab6453c7_1_0_5 in scene +[05/26 02:35:35 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +[2026-05-26 02:37:36,136] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:47:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 4350 episode 0 object objatoysword_34640d52951443888e0bb0dc99f993c5_1_0_3 completed with success=False +[05/26 02:47:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4350: 1 episodes +[05/26 02:47:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:47:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:47:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4350 +[05/26 02:47:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4350 in 3.31s (batch: 3.18s, save: 0.13s) +[05/26 02:47:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4350 +[05/26 02:47:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4350: 0/1 successful episodes +[05/26 02:47:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4383 (index 10/35) +[05/26 02:47:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4383 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 02:47:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +[2026-05-26 02:49:46,117] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:50:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:57:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 4383 episode 0 object Irishpotato_19522f313a33f0a662dcc0b1aa19547c_1_0_2 completed with success=False +[05/26 02:57:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4383: 1 episodes +[05/26 02:57:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:57:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:57:12 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4383 +[05/26 02:57:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4383 in 3.79s (batch: 3.62s, save: 0.17s) +[05/26 02:57:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4383 +[05/26 02:57:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4383: 0/1 successful episodes +[05/26 02:57:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4425 (index 11/35) +[05/26 02:57:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4425 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 02:57:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +[05/26 02:57:35 Worker 0 WARNING object_manager.py:1238] Could not find object objaartifact_fc122506e9fb4919abd5e3b5876747a4_1_0_5 in scene +[05/26 02:57:35 Worker 0 WARNING object_manager.py:1238] Could not find object objamat_e0b2b8107ba5450298811782f875ee25_1_0_5 in scene +[2026-05-26 03:00:17,631] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:10:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 4425 episode 0 object objadecorativeelement_4b009fce74c64110b521f91692a4867f_1_0_2 completed with success=False +[05/26 03:10:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4425: 1 episodes +[05/26 03:10:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:10:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:10:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4425 +[05/26 03:10:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4425 in 4.16s (batch: 3.97s, save: 0.19s) +[05/26 03:10:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4425 +[05/26 03:10:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4425: 0/1 successful episodes +[05/26 03:10:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4500 (index 12/35) +[05/26 03:10:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4500 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 03:10:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +[2026-05-26 03:12:58,867] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:14:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:17:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 4500 episode 0 object objasymbol_5742a3cd3a124f88bb061418ddc6db2b_1_0_2 completed with success=False +[05/26 03:17:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4500: 1 episodes +[05/26 03:17:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:17:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:17:52 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4500 +[05/26 03:17:52 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4500 in 4.08s (batch: 3.81s, save: 0.27s) +[05/26 03:17:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4500 +[05/26 03:17:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4500: 0/1 successful episodes +[05/26 03:17:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4549 (index 13/35) +[05/26 03:17:53 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4549 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 03:17:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +[2026-05-26 03:20:06,684] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:20:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:23:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 4549 episode 0 object objalever_5d821ac7148240c092c4face44c1d096_1_0_2 completed with success=False +[05/26 03:23:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4549: 1 episodes +[05/26 03:23:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:23:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:23:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4549 +[05/26 03:23:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4549 in 3.07s (batch: 2.93s, save: 0.14s) +[05/26 03:23:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4549 +[05/26 03:23:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4549: 0/1 successful episodes +[05/26 03:23:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4615 (index 14/35) +[05/26 03:23:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4615 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 03:23:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/24 [00:00 does not support tracking retries. +[2026-05-26 03:24:44,091] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:29:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 4615 episode 0 object objatrowel_41e5faac18994f0b9f14a515e9662354_1_0_7 completed with success=False +[05/26 03:29:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4615: 1 episodes +[05/26 03:29:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:29:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:29:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4615 +[05/26 03:29:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4615 in 3.71s (batch: 3.50s, save: 0.21s) +[05/26 03:29:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4615 +[05/26 03:29:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4615: 0/1 successful episodes +[05/26 03:29:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4661 (index 15/35) +[05/26 03:29:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4661 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 03:29:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/59 [00:00 does not support tracking retries. +[05/26 03:29:56 Worker 0 WARNING object_manager.py:1238] Could not find object objamodelhouse_46a06fe6dbbe4be6999c5c51dde9ec4b_1_0_5 in scene +[05/26 03:29:56 Worker 0 WARNING object_manager.py:1238] Could not find object objajewelry_5d13ef83fc9f496fb99b97e4f0e5e610_1_0_5 in scene +[05/26 03:29:56 Worker 0 WARNING object_manager.py:1238] Could not find object candle_fe12fa900f50b1f2dcab659cebcf492b_1_0_5 in scene +[2026-05-26 03:32:07,168] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:39:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 4661 episode 0 object objawalkietalkie_8b08a40f337644cb8ceef52be1eb824f_1_0_6 completed with success=False +[05/26 03:39:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4661: 1 episodes +[05/26 03:39:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:39:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:39:20 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4661 +[05/26 03:39:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4661 in 3.87s (batch: 3.56s, save: 0.32s) +[05/26 03:39:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4661 +[05/26 03:39:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4661: 0/1 successful episodes +[05/26 03:39:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4705 (index 16/35) +[05/26 03:39:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4705 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 03:39:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/58 [00:00 does not support tracking retries. +[2026-05-26 03:41:50,223] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:42:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:46:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 4705 episode 0 object objahandtool_61b9c84deee940f1bf2c6125f96c40e5_1_0_2 completed with success=False +[05/26 03:46:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4705: 1 episodes +[05/26 03:46:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:46:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:46:15 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4705 +[05/26 03:46:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4705 in 2.71s (batch: 2.58s, save: 0.13s) +[05/26 03:46:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4705 +[05/26 03:46:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4705: 0/1 successful episodes +[05/26 03:46:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4745 (index 17/35) +[05/26 03:46:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4745 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 03:46:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +[05/26 03:46:37 Worker 0 WARNING object_manager.py:1238] Could not find object objatoyflower_e1001602762642cca0ff1651da592cdd_1_0_8 in scene +[05/26 03:46:37 Worker 0 WARNING object_manager.py:1238] Could not find object alarmclock_92c4e6e47495ff6cf76dac0aa793f1e6_1_0_8 in scene +[2026-05-26 03:48:23,984] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:49:48 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:55:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 4745 episode 0 object objainsect_b6dbcdac7cc34379b22ff3099fa4bf5a_1_0_7 completed with success=False +[05/26 03:55:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4745: 1 episodes +[05/26 03:55:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:55:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:55:39 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4745 +[05/26 03:55:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4745 in 3.04s (batch: 2.95s, save: 0.09s) +[05/26 03:55:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4745 +[05/26 03:55:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4745: 0/1 successful episodes +[05/26 03:55:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4781 (index 18/35) +[05/26 03:55:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4781 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 03:55:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/39 [00:00 does not support tracking retries. +[2026-05-26 03:57:45,326] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:58:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:04:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 4781 episode 0 object objadecorativebell_82a59a8d2fed401ea8a9681ce7cfc3b0_1_0_4 completed with success=False +[05/26 04:04:56 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4781: 1 episodes +[05/26 04:04:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:04:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:04:59 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4781 +[05/26 04:04:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4781 in 3.33s (batch: 3.18s, save: 0.15s) +[05/26 04:05:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4781 +[05/26 04:05:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4781: 0/1 successful episodes +[05/26 04:05:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4783 (index 19/35) +[05/26 04:05:00 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4783 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 04:05:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +[2026-05-26 04:06:34,918] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:11:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 4783 episode 0 object objadisc_5766095a480e444da6185a24f8f17840_1_0_2 completed with success=False +[05/26 04:11:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +[2026-05-26 04:14:01,065] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:15:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:22:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 4783 episode 1 object objaalarmclock_71ab3427ad1142718af2ee8feb85c5fd_1_0_2 completed with success=False +[05/26 04:22:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4783: 2 episodes +[05/26 04:22:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:22:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:22:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:22:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:22:24 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4783 +[05/26 04:22:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4783 in 4.91s (batch: 4.73s, save: 0.18s) +[05/26 04:22:25 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4783 +[05/26 04:22:25 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4783: 0/2 successful episodes +[05/26 04:22:25 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4809 (index 20/35) +[05/26 04:22:25 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4809 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 04:22:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/26 04:22:39 Worker 0 WARNING object_manager.py:1238] Could not find object laptop_63fbcd680e0db93dfb0454951f2114f3_1_0_6 in scene +[05/26 04:22:39 Worker 0 WARNING object_manager.py:1238] Could not find object objametalrod_6163f82aa93d4eaeb3acd9909e1f40f0_1_0_6 in scene +[05/26 04:22:39 Worker 0 WARNING object_manager.py:1238] Could not find object vase_d568e4c5c2948c69c05d527517276b06_2_0_7 in scene +[2026-05-26 04:24:09,048] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:28:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 4809 episode 0 object objaguitareffectspedal_083eb9b9eb564701820d3a79377c77ce_1_0_5 completed with success=False +[05/26 04:28:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4809: 1 episodes +[05/26 04:28:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:28:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:28:59 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4809 +[05/26 04:28:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4809 in 3.41s (batch: 3.25s, save: 0.16s) +[05/26 04:29:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4809 +[05/26 04:29:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4809: 0/1 successful episodes +[05/26 04:29:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4870 (index 21/35) +[05/26 04:29:00 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4870 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 04:29:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[2026-05-26 04:31:08,356] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:32:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:35:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 4870 episode 0 object objacandle_a4849fae6e164623a7883695426daa50_1_0_5 completed with success=False +[05/26 04:35:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4870: 1 episodes +[05/26 04:35:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:35:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:35:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4870 +[05/26 04:35:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4870 in 3.13s (batch: 3.02s, save: 0.11s) +[05/26 04:35:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4870 +[05/26 04:35:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4870: 0/1 successful episodes +[05/26 04:35:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4947 (index 22/35) +[05/26 04:35:35 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4947 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 04:35:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +[2026-05-26 04:36:48,643] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:39:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 4947 episode 0 object objaneedlenosepliers_0079418517784f2bbf0aec6fd8de3cde_1_0_2 completed with success=False +[05/26 04:39:35 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4947: 1 episodes +[05/26 04:39:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:39:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:39:38 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4947 +[05/26 04:39:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4947 in 2.71s (batch: 2.56s, save: 0.15s) +[05/26 04:39:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4947 +[05/26 04:39:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4947: 0/1 successful episodes +[05/26 04:39:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4986 (index 23/35) +[05/26 04:39:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4986 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 04:39:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +[05/26 04:39:53 Worker 0 WARNING object_manager.py:1238] Could not find object objatoybomb_1631526a79b44d3a96382b1802a59fb7_1_0_6 in scene +[05/26 04:39:53 Worker 0 WARNING object_manager.py:1238] Could not find object vase_e3478e74916159222cb33c5c329dc2b8_1_0_6 in scene +[05/26 04:39:53 Worker 0 WARNING object_manager.py:1238] Could not find object objapapertowelroll_d62583f82dfe46f0a8a8255d35a6de62_1_0_7 in scene +[05/26 04:39:53 Worker 0 WARNING object_manager.py:1238] Could not find object objasoap_539c979c75b34576b75f3383e96eadb5_1_0_7 in scene +[05/26 04:39:53 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativescript_698f49c7bedb4fc3a5777a9f4edcc5bc_1_0_8 in scene +[05/26 04:39:53 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_8 in scene +[2026-05-26 04:41:08,987] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:41:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:46:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 4986 episode 0 object objahourglass_e278f37f71ac4e2e980c6ef53899c2d7_1_0_9 completed with success=False +[05/26 04:46:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4986: 1 episodes +[05/26 04:46:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:46:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:46:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_4986 +[05/26 04:46:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4986 in 2.54s (batch: 2.39s, save: 0.15s) +[05/26 04:46:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4986 +[05/26 04:46:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4986: 0/1 successful episodes +[05/26 04:46:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5045 (index 24/35) +[05/26 04:46:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5045 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 04:46:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +[05/26 04:46:35 Worker 0 WARNING object_manager.py:1238] Could not find object objaframedportrait_117946e14b8545a69e962fce2b8a5022_1_0_8 in scene +[05/26 04:46:35 Worker 0 WARNING object_manager.py:1238] Could not find object laptop_63fbcd680e0db93dfb0454951f2114f3_1_0_8 in scene +[2026-05-26 04:48:26,437] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:53:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 5045 episode 0 object objataxidermybird_843000ec4e604edbaa76946cd1a89501_1_0_2 completed with success=False +[05/26 04:53:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5045: 1 episodes +[05/26 04:53:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:53:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:53:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5045 +[05/26 04:53:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5045 in 2.79s (batch: 2.66s, save: 0.13s) +[05/26 04:53:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5045 +[05/26 04:53:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5045: 0/1 successful episodes +[05/26 04:53:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5059 (index 25/35) +[05/26 04:53:11 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 5059 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 04:53:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +[2026-05-26 04:54:30,905] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:54:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:01:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 5059 episode 0 object objahandmirror_a3348d3e4a674350af738e8cf20ec378_1_0_5 completed with success=False +[05/26 05:01:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +[2026-05-26 05:03:29,100] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:04:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:07:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 5059 episode 1 object objascopemount_97d5328f85dd40cfaec1aed7a00164f3_1_0_4 completed with success=False +[05/26 05:07:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5059: 2 episodes +[05/26 05:07:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:07:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:07:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:07:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:07:35 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5059 +[05/26 05:07:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5059 in 6.55s (batch: 6.31s, save: 0.24s) +[05/26 05:07:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5059 +[05/26 05:07:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5059: 0/2 successful episodes +[05/26 05:07:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5128 (index 26/35) +[05/26 05:07:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5128 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 05:07:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +[05/26 05:07:48 Worker 0 WARNING object_manager.py:1238] Could not find object objajewelry_5d13ef83fc9f496fb99b97e4f0e5e610_1_0_3 in scene +[05/26 05:07:48 Worker 0 WARNING object_manager.py:1238] Could not find object objaexternalharddrive_fd2d9721dc3a4fc6841e38f30fbad6c0_1_0_3 in scene +[05/26 05:07:48 Worker 0 WARNING object_manager.py:1238] Could not find object objatoothmodel_7e325316ef424bc6b71ee680528b6eeb_1_0_4 in scene +[05/26 05:07:48 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturetrafficlight_30f361478c8143fbb463dcf9b2a0cb61_1_0_4 in scene +[2026-05-26 05:10:04,527] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:11:49 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:16:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 5128 episode 0 object objahandtool_7985f67d4f204df78904cd50b73cbf0f_1_0_2 completed with success=False +[05/26 05:16:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5128: 1 episodes +[05/26 05:16:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:16:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:16:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5128 +[05/26 05:16:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5128 in 3.02s (batch: 2.88s, save: 0.14s) +[05/26 05:16:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5128 +[05/26 05:16:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5128: 0/1 successful episodes +[05/26 05:16:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5169 (index 27/35) +[05/26 05:16:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5169 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 05:16:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/9 [00:00 does not support tracking retries. +[2026-05-26 05:19:07,593] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:22:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 5169 episode 0 object objapipecutter_9113b144802144b683d8db86f7d7388c_2_0_2 completed with success=False +[05/26 05:22:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5169: 1 episodes +[05/26 05:22:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:22:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:22:29 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5169 +[05/26 05:22:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5169 in 3.12s (batch: 2.99s, save: 0.13s) +[05/26 05:22:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5169 +[05/26 05:22:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5169: 0/1 successful episodes +[05/26 05:22:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5232 (index 28/35) +[05/26 05:22:30 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5232 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 05:22:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +[2026-05-26 05:24:46,797] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:26:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:33:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 5232 episode 0 object objadomino_c97ea56f249340cea90c4f66e84108dc_1_0_7 completed with success=False +[05/26 05:33:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5232: 1 episodes +[05/26 05:33:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:33:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:33:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5232 +[05/26 05:33:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5232 in 3.56s (batch: 3.31s, save: 0.25s) +[05/26 05:33:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5232 +[05/26 05:33:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5232: 0/1 successful episodes +[05/26 05:33:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5297 (index 29/35) +[05/26 05:33:57 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5297 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 05:33:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +[2026-05-26 05:36:13,639] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:40:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 5297 episode 0 object objadecorativechain_920dd47d98484df4a23b8dee1b378c6a_1_0_7 completed with success=False +[05/26 05:40:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5297: 1 episodes +[05/26 05:40:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:41:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:41:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5297 +[05/26 05:41:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5297 in 3.04s (batch: 2.92s, save: 0.12s) +[05/26 05:41:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5297 +[05/26 05:41:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5297: 0/1 successful episodes +[05/26 05:41:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5384 (index 30/35) +[05/26 05:41:02 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5384 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 05:41:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +[05/26 05:41:11 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingpanel_8bde878be8dd4fb7b6914db9c4dd31bb_1_0_4 in scene +[2026-05-26 05:43:21,401] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:50:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 5384 episode 0 object objavintagecamera_0e0b88c0baf8434fbd236ee93dc8d107_1_0_6 completed with success=False +[05/26 05:50:46 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5384: 1 episodes +[05/26 05:50:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:50:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:50:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5384 +[05/26 05:50:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5384 in 3.76s (batch: 3.61s, save: 0.16s) +[05/26 05:50:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5384 +[05/26 05:50:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5384: 0/1 successful episodes +[05/26 05:50:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5431 (index 31/35) +[05/26 05:50:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5431 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 05:50:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/24 [00:00 does not support tracking retries. +[2026-05-26 05:53:05,419] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:54:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:58:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 5431 episode 0 object objadeskcalendar_c0ddec650d304adbb5d6730f43205dda_1_0_7 completed with success=False +[05/26 05:58:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5431: 1 episodes +[05/26 05:58:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:58:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:58:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5431 +[05/26 05:58:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5431 in 3.18s (batch: 2.99s, save: 0.19s) +[05/26 05:58:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5431 +[05/26 05:58:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5431: 0/1 successful episodes +[05/26 05:58:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5474 (index 32/35) +[05/26 05:58:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5474 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 05:58:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/24 [00:00 does not support tracking retries. +[2026-05-26 06:00:10,328] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:00:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:02:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 5474 episode 0 object objatradingcard_90d980fb471f440aa1d16866c79c61f7_1_0_6 completed with success=False +[05/26 06:02:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5474: 1 episodes +[05/26 06:02:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:02:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:02:57 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5474 +[05/26 06:02:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5474 in 2.70s (batch: 2.57s, save: 0.14s) +[05/26 06:02:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5474 +[05/26 06:02:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5474: 0/1 successful episodes +[05/26 06:02:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5505 (index 33/35) +[05/26 06:02:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5505 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 06:02:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/44 [00:00 does not support tracking retries. +[05/26 06:03:10 Worker 0 WARNING object_manager.py:1238] Could not find object objadentures_9f8a86701e5549c6bf6004b4f58bdd31_1_0_5 in scene +[05/26 06:03:10 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_7 in scene +[05/26 06:03:10 Worker 0 WARNING object_manager.py:1238] Could not find object objatoyrocket_b9bdbba91b454caa8f8c82b946ded428_1_0_8 in scene +[05/26 06:03:10 Worker 0 WARNING object_manager.py:1238] Could not find object objacomputermouse_c4c6d54694f3481eb60235314cbf2dc9_1_0_8 in scene +[2026-05-26 06:05:00,284] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:06:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:13:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 5505 episode 0 object objawoodencarving_6589b07c9b2d49778e08d7e6110c04c6_1_0_9 completed with success=False +[05/26 06:14:04 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5505: 1 episodes +[05/26 06:14:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:14:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:14:07 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5505 +[05/26 06:14:07 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5505 in 3.25s (batch: 3.12s, save: 0.13s) +[05/26 06:14:08 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5505 +[05/26 06:14:08 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5505: 0/1 successful episodes +[05/26 06:14:08 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5541 (index 34/35) +[05/26 06:14:08 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5541 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_02 +[05/26 06:14:08 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +[05/26 06:14:17 Worker 0 WARNING object_manager.py:1238] Could not find object objawasher_43e7ebcba34645448a997c3d03054d33_1_0_5 in scene +[05/26 06:14:17 Worker 0 WARNING object_manager.py:1238] Could not find object objasealanttube_75f15adc55404069bf598155d12d0ebd_1_0_5 in scene +[05/26 06:14:17 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativepanel_a17676f45b3d483c9dc1910a2eb17269_1_0_7 in scene +[2026-05-26 06:16:06,067] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:16:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:22:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 5541 episode 0 object objainvitationcard_e73597e02fef49fd988cbda0d6abe53b_1_0_8 completed with success=False +[05/26 06:22:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5541: 1 episodes +[05/26 06:22:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:22:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:22:08 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010452/house_5541 +[05/26 06:22:08 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5541 in 3.01s (batch: 2.89s, save: 0.12s) +[05/26 06:22:08 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5541 +[05/26 06:22:08 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5541: 0/1 successful episodes +[05/26 06:22:08 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses +[05/26 06:22:09 INFO pipeline.py:1496] Completed 35 houses, skipped 0 houses +[05/26 06:22:09 INFO pipeline.py:1499] Success count: 0, Total count: 39 +[05/26 06:22:09 INFO pipeline.py:1500] Success rate: 0.00% +Combined 39 episodes from 35 files → /tmp/tmpqpngflxq.h5 + +Saved → /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/results.csv at-end: 0.0% | oracle: 0.0% of 39 episodes +[2026-05-26 06:22:14,689] INFO MolmoSpaces simulator eval finished: success=0/39 rate=0.0000 output=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval +[2026-05-26 06:22:14,690] INFO Benchmark CSV: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval/results.csv + +Submission artifacts ready: + CSV : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/submission/results.csv + Bundle zip : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/submission_bundle.zip + Summary : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/submission/summary.json + Full eval output : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/eval + Repro command : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_02/run_command.sh diff --git a/pnp_v2/pnp_v2/submission/shard_03.launcher.log b/pnp_v2/pnp_v2/submission/shard_03.launcher.log new file mode 100644 index 0000000000000000000000000000000000000000..e4d89991a0d3e11df4dafcda99b1d132e4f35f48 --- /dev/null +++ b/pnp_v2/pnp_v2/submission/shard_03.launcher.log @@ -0,0 +1,1488 @@ +================================================================================ +Official MolmoSpaces Submission Run +================================================================================ +Checkpoint : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt +Benchmark dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +Output root : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03 +Eval output dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval +Submission dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/submission +Conda env : molmospace +Policy name : latest +Policy device : cuda:0 +Text embedding device : cpu +Prompt cache dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan +Workers : 1 +Task horizon steps : 450 +Action chunk size : 8 +Obs camera : droid_shoulder_light_randomization +Obs wrist camera : wrist_camera_zed_mini +Camera names : droid_shoulder_light_randomization wrist_camera_zed_mini +Preview camera names : droid_shoulder_light_randomization +End on success : 1 +Visualization : 0 +Save raw videos : 0 +Save video sensors : __none__ +Success condition (CSV) : both + +Official runner : molmo_spaces.evaluation.run_evaluation() +CSV exporter : molmospaces/scripts/benchmarks/eval_to_csv.py + +Command +conda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament +================================================================================ +[2026-05-26 01:03:53,329] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath'] +[2026-05-26 01:03:53,437] INFO Selected MuJoCo backend: egl +[2026-05-26 01:03:53,471] INFO Using MolmoSpaces benchmark: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 (source=arg) +[2026-05-26 01:03:56,384] INFO No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +[nltk_data] Downloading package wordnet to /home/yuanpei/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /home/yuanpei/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +[2026-05-26 01:04:09,361] INFO ResourceManager (R2RemoteStorage('https://pub-3555e9bb2d304fab9c6c79819e48aa40.r2.dev')) using: + symlink_dir=/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets + cache_dir=/home/yuanpei/.cache/molmo-spaces-resources + force_install=True +/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py:129: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +[2026-05-26 01:04:36,985] INFO Requested MolmoSpaces simulator cameras: ['droid_shoulder_light_randomization', 'wrist_camera_zed_mini'] +[2026-05-26 01:04:36,989] INFO Using save_video_sensors=['__none__'] +[2026-05-26 01:04:40,882] INFO Resolved MolmoSpaces action semantics from checkpoint: source=pnp_next_to_v2 type=molmo_raw arm_action_key=joint_pos_rel gripper_action_key=joint_pos action_type=joint_pos_rel arm_command_mode=joint_rel_position +[2026-05-26 01:04:40,909] INFO Using explicit task_horizon override: 450 steps +[05/26 01:04:41 INFO pipeline.py:677] WandB logging disabled (environment variables not set) +[2026-05-26 01:04:41,001] INFO JsonEvalRunner initialized: 35 houses, 39 episodes from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 01:04:41 INFO pipeline.py:1279] Starting house-by-house rollout of 35 houses with 2 episodes each (70 total episodes) using 1 worker processes +[05/26 01:04:41 INFO pipeline.py:1286] Evaluation configuration: +[05/26 01:04:41 INFO pipeline.py:1287] {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['droid_shoulder_light_randomization', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 'wan_molmobot_franka', + 'obs_camera_name': 'droid_shoulder_light_randomization', + 'obs_image_key': 'rgb_head', + 'obs_state_key': 'robot_state', + 'obs_wrist_camera_name': 'wrist_camera_zed_mini', + 'obs_wrist_image_key': 'rgb_wrist', + 'policy_cls': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [3956, + 3970, + 3993, + 4030, + 4086, + 4156, + 4236, + 4292, + 4357, + 4375, + 4384, + 4429, + 4502, + 4550, + 4618, + 4668, + 4710, + 4747, + 4786, + 4788, + 4815, + 4871, + 4953, + 5002, + 5057, + 5132, + 5142, + 5174, + 5237, + 5314, + 5387, + 5435, + 5479, + 5508, + 5543], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} +[2026-05-26 01:04:41,017] INFO Saved experiment configuration to /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440 +[05/26 01:04:41 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler +[05/26 01:04:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/26 01:04:41 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler +[05/26 01:04:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3956 (index 0/35) +[05/26 01:04:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3956 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 01:04:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +2026-05-26 01:06:10.308 | INFO | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0 +[2026-05-26 01:06:45,280] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k) +[2026-05-26 01:06:46,274] INFO [timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k] Safe alternative available for 'pytorch_model.bin' (as 'model.safetensors'). Loading weights using safetensors. +[2026-05-26 01:08:50,484] INFO Number of parameters in DiT: 1.821428e+07 +[2026-05-26 01:09:03,882] INFO Loaded generic psi-policy checkpoint | target=psi_policy.policy.psi_policy.PsiPolicy | obs_keys=['rgb_head', 'rgb_wrist', 'robot_state', 'text_context'] | action_horizon=16 | action_dim=8 +[2026-05-26 01:09:03,887] INFO Loaded MolmoSpaces policy | checkpoint=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt | target=psi_policy.policy.psi_policy.PsiPolicy | device=cuda:0 | action_chunk_size=8 +[05/26 01:09:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:13:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 3956 episode 0 object objawallet_284753c433144278b333b617615d6b3a_1_0_2 completed with success=False +[05/26 01:13:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3956: 1 episodes +[05/26 01:13:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:13:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:13:19 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_3956 +[05/26 01:13:19 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3956 in 4.50s (batch: 4.18s, save: 0.32s) +[05/26 01:13:20 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3956 +[05/26 01:13:20 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3956: 0/1 successful episodes +[05/26 01:13:20 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3970 (index 1/35) +[05/26 01:13:20 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 3970 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 01:13:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +[05/26 01:22:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 3970 episode 0 object objahandmodel_60401d040b8c49e4806ef37a1d399cea_1_0_2 completed with success=False +[05/26 01:22:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +[05/26 01:37:28 Worker 0 ERROR pipeline.py:1164] Worker 0 house 3970 episode 1 rollout error: Timed out waiting for prompt embedding cache: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan/prompt_Pick_up_the_triangular_colorful_patch_with_eye_d_56017b623134.pt, /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan/molmospaces_eval_pick_up_the_triangular_colorful_patch_with_eye_design_and_place_it_in_or_on_the_rectangular_shal.pt +Traceback (most recent call last): + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1095, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/data_generation/pipeline.py", line 820, in run_single_rollout + action_cmd = policy.get_action(observation) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/policy/base_policy.py", line 112, in get_action + model_input = self.obs_to_model_input(observation) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/molmospaces_adapter/policy.py", line 413, in obs_to_model_input + text_context = self._load_text_context(task_description) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/molmospaces_adapter/policy.py", line 565, in _load_text_context + embedding_path = ensure_wan_prompt_embedding( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/model/wan/prompt_embedding.py", line 89, in ensure_wan_prompt_embedding + return _wait_for_prompt_embedding( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/model/wan/prompt_embedding.py", line 390, in _wait_for_prompt_embedding + raise TimeoutError(f"Timed out waiting for prompt embedding cache: {searched}") +TimeoutError: Timed out waiting for prompt embedding cache: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan/prompt_Pick_up_the_triangular_colorful_patch_with_eye_d_56017b623134.pt, /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan/molmospaces_eval_pick_up_the_triangular_colorful_patch_with_eye_design_and_place_it_in_or_on_the_rectangular_shal.pt +[05/26 01:37:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3970: 1 episodes +[05/26 01:37:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:37:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:37:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_3970 +[05/26 01:37:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3970 in 3.38s (batch: 3.18s, save: 0.20s) +[05/26 01:37:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3970 +[05/26 01:37:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3970: 0/1 successful episodes +[05/26 01:37:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3993 (index 2/35) +[05/26 01:37:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3993 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 01:37:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[05/26 01:38:10 Worker 0 WARNING object_manager.py:1238] Could not find object objagardenfork_ce1900ce820a4a419d376d1532e85bcf_1_0_4 in scene +[05/26 01:38:10 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturebuilding_1954e7fb9f324e26973b1d34f5358040_1_0_7 in scene +[05/26 01:38:10 Worker 0 WARNING object_manager.py:1238] Could not find object objalighter_a2db21b57424449f9a2d1aa08e5b0c90_1_0_7 in scene +[2026-05-26 01:40:08,275] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/huggingface_hub/file_download.py:945: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`. + warnings.warn( +[05/26 01:41:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:44:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 3993 episode 0 object objacollar_5f329a75ab1a4890868ba37061ca3396_1_0_7 completed with success=False +[05/26 01:44:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3993: 1 episodes +[05/26 01:44:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:44:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:44:39 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_3993 +[05/26 01:44:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3993 in 2.40s (batch: 2.31s, save: 0.09s) +[05/26 01:44:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3993 +[05/26 01:44:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3993: 0/1 successful episodes +[05/26 01:44:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4030 (index 3/35) +[05/26 01:44:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4030 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 01:44:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 does not support tracking retries. +[2026-05-26 01:55:02,899] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 01:58:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 4030 episode 0 object objatube_747652d3308142278b333f1e2ee13549_1_0_5 completed with success=False +[05/26 01:58:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4030: 1 episodes +[05/26 01:58:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:58:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:58:28 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4030 +[05/26 01:58:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4030 in 2.94s (batch: 2.77s, save: 0.17s) +[05/26 01:58:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4030 +[05/26 01:58:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4030: 0/1 successful episodes +[05/26 01:58:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4086 (index 4/35) +[05/26 01:58:29 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4086 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 01:58:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[2026-05-26 02:00:26,533] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:06:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 4086 episode 0 object objacupcake_dc0c1995690645a4b7016b1c50636bb4_1_0_8 completed with success=False +[05/26 02:06:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4086: 1 episodes +[05/26 02:06:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:06:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:06:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4086 +[05/26 02:06:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4086 in 3.76s (batch: 3.62s, save: 0.14s) +[05/26 02:06:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4086 +[05/26 02:06:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4086: 0/1 successful episodes +[05/26 02:06:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4156 (index 5/35) +[05/26 02:06:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4156 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 02:06:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[05/26 02:07:11 Worker 0 WARNING object_manager.py:1238] Could not find object objacleaningsponge_afd092fac12f4ef8984b80d3d15de232_1_0_5 in scene +[2026-05-26 02:09:17,448] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:10:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:14:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 4156 episode 0 object objadecorativescript_698f49c7bedb4fc3a5777a9f4edcc5bc_1_0_9 completed with success=False +[05/26 02:14:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4156: 1 episodes +[05/26 02:14:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:14:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:14:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4156 +[05/26 02:14:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4156 in 3.74s (batch: 3.62s, save: 0.12s) +[05/26 02:14:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4156 +[05/26 02:14:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4156: 0/1 successful episodes +[05/26 02:14:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4236 (index 6/35) +[05/26 02:14:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4236 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 02:14:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/7 [00:00 does not support tracking retries. +[2026-05-26 02:16:41,297] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:17:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:20:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 4236 episode 0 object objawristwatch_189f8a498b074e28a2b37a099d57fb2b_1_0_2 completed with success=False +[05/26 02:20:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4236: 1 episodes +[05/26 02:20:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:20:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:20:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4236 +[05/26 02:20:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4236 in 3.38s (batch: 3.24s, save: 0.14s) +[05/26 02:20:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4236 +[05/26 02:20:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4236: 0/1 successful episodes +[05/26 02:20:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4292 (index 7/35) +[05/26 02:20:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4292 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 02:20:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +[2026-05-26 02:22:30,537] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:28:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 4292 episode 0 object objadecorativering_f1c609d000e74dcd96fb8b083db2db9c_1_0_8 completed with success=False +[05/26 02:28:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4292: 1 episodes +[05/26 02:28:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:28:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:28:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4292 +[05/26 02:28:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4292 in 4.22s (batch: 4.01s, save: 0.20s) +[05/26 02:28:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4292 +[05/26 02:28:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4292: 0/1 successful episodes +[05/26 02:28:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4357 (index 8/35) +[05/26 02:28:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4357 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 02:28:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +[2026-05-26 02:31:13,150] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:36:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 4357 episode 0 object objadecorativesculpture_b277500749914c1b966438f679587a3d_1_0_9 completed with success=False +[05/26 02:36:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4357: 1 episodes +[05/26 02:36:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:36:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:36:45 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4357 +[05/26 02:36:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4357 in 3.25s (batch: 3.11s, save: 0.13s) +[05/26 02:36:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4357 +[05/26 02:36:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4357: 0/1 successful episodes +[05/26 02:36:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4375 (index 9/35) +[05/26 02:36:46 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4375 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 02:36:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +[05/26 02:36:56 Worker 0 WARNING object_manager.py:1238] Could not find object objaglove_c954a6160ee34548a1b0ea538f3b92dd_1_0_8 in scene +[05/26 02:36:56 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_8 in scene +[2026-05-26 02:38:53,529] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:45:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 4375 episode 0 object objaplayingcard_dad48ec229b640449d29ffc14d5eadbf_1_0_4 completed with success=False +[05/26 02:45:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +[05/26 02:45:51 Worker 0 WARNING object_manager.py:1238] Could not find object objaglove_c954a6160ee34548a1b0ea538f3b92dd_1_0_8 in scene +[05/26 02:45:51 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_8 in scene +[2026-05-26 02:48:03,811] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:49:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:54:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 4375 episode 1 object objafruit_b618ea230ab04d9c8804eebe766a6426_1_0_8 completed with success=False +[05/26 02:54:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4375: 2 episodes +[05/26 02:54:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:54:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:54:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:54:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:54:22 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4375 +[05/26 02:54:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4375 in 7.82s (batch: 7.53s, save: 0.29s) +[05/26 02:54:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4375 +[05/26 02:54:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4375: 0/2 successful episodes +[05/26 02:54:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4384 (index 10/35) +[05/26 02:54:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4384 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 02:54:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/58 [00:00 does not support tracking retries. +[05/26 02:54:37 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingventcover_c56ee3f7d606481bb4aaedc4250b097e_1_0_5 in scene +[05/26 02:54:37 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_8c6e5265f19b49709119c2628c2bdf3f_1_0_5 in scene +[2026-05-26 02:57:04,715] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:58:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:07:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 4384 episode 0 object objagreetingcard_99d51751c64749d68d8da3903cb45194_1_0_3 completed with success=False +[05/26 03:07:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4384: 1 episodes +[05/26 03:07:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:07:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:07:28 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4384 +[05/26 03:07:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4384 in 3.44s (batch: 3.20s, save: 0.23s) +[05/26 03:07:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4384 +[05/26 03:07:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4384: 0/1 successful episodes +[05/26 03:07:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4429 (index 11/35) +[05/26 03:07:29 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4429 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 03:07:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/13 [00:00 does not support tracking retries. +[2026-05-26 03:10:00,952] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:11:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:14:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 4429 episode 0 object objagamingmouse_c7a1a915a0a44a128f9e91e0be1a2316_1_0_3 completed with success=False +[05/26 03:15:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4429: 1 episodes +[05/26 03:15:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:15:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:15:07 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4429 +[05/26 03:15:07 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4429 in 3.68s (batch: 3.51s, save: 0.17s) +[05/26 03:15:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4429 +[05/26 03:15:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4429: 0/1 successful episodes +[05/26 03:15:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4502 (index 12/35) +[05/26 03:15:07 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4502 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 03:15:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +[05/26 03:15:26 Worker 0 WARNING object_manager.py:1238] Could not find object objacleaningsponge_afd092fac12f4ef8984b80d3d15de232_1_0_5 in scene +[05/26 03:15:26 Worker 0 WARNING object_manager.py:1238] Could not find object objaaerosolcan_b6b64dc8ae6049dbba19ae2cef3575bb_1_0_5 in scene +[05/26 03:15:26 Worker 0 WARNING object_manager.py:1238] Could not find object lettuce_78266f6bc320cc73d50a37e54430a582_1_0_6 in scene +[2026-05-26 03:17:03,819] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:18:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:22:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 4502 episode 0 object objaceramiccup_dde060cbc53a40e2ba7ca9353c21fe91_1_0_6 completed with success=False +[05/26 03:22:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4502: 1 episodes +[05/26 03:22:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:22:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:22:45 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4502 +[05/26 03:22:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4502 in 3.13s (batch: 3.01s, save: 0.12s) +[05/26 03:22:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4502 +[05/26 03:22:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4502: 0/1 successful episodes +[05/26 03:22:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4550 (index 13/35) +[05/26 03:22:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4550 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 03:22:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[05/26 03:22:57 Worker 0 WARNING object_manager.py:1238] Could not find object objabirdskull_56816fb55d054bdc9ecd6ea6b35b44c1_1_0_4 in scene +[05/26 03:22:57 Worker 0 WARNING object_manager.py:1238] Could not find object alarmclock_85647c60207a07a17bbd65025ae5d72c_1_0_4 in scene +[05/26 03:22:57 Worker 0 WARNING object_manager.py:1238] Could not find object vase_4686c3634f3334d6f28ba73fcd509a72_1_0_4 in scene +[05/26 03:22:57 Worker 0 WARNING object_manager.py:1238] Could not find object objaclog_b931698a3f5f4fb2a1c27aae7f6120e2_1_0_5 in scene +[05/26 03:22:57 Worker 0 WARNING object_manager.py:1238] Could not find object objatube_65b148a1480846e08e5ce03164d4c012_1_0_5 in scene +[05/26 03:22:57 Worker 0 WARNING object_manager.py:1238] Could not find object objasandwich_b52cc19a3f2042fb981b64e4f910199c_2_0_8 in scene +[05/26 03:22:57 Worker 0 WARNING object_manager.py:1238] Could not find object apple_e4633a6eeab3bd9cfd60227d76a684e8_1_0_8 in scene +[2026-05-26 03:24:01,718] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:24:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:30:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 4550 episode 0 object atomizer_973bce9435d852757b03afc168e4c1df_1_0_8 completed with success=False +[05/26 03:30:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4550: 1 episodes +[05/26 03:30:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:30:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:30:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4550 +[05/26 03:30:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4550 in 3.56s (batch: 3.31s, save: 0.25s) +[05/26 03:30:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4550 +[05/26 03:30:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4550: 0/1 successful episodes +[05/26 03:30:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4618 (index 14/35) +[05/26 03:30:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4618 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 03:30:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 does not support tracking retries. +[05/26 03:30:54 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativestoneplaque_7fc5390ada9e4965ab984dbc1200737a_1_0_5 in scene +[05/26 03:30:54 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_98ad81f9aaa74fe0c8d1de65acb880ca_1_0_5 in scene +[2026-05-26 03:33:00,968] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:34:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:40:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 4618 episode 0 object objashoe_60bc124848d642d49f3ffa9fcdea16b8_1_0_5 completed with success=False +[05/26 03:40:17 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4618: 1 episodes +[05/26 03:40:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:40:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:40:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4618 +[05/26 03:40:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4618 in 3.77s (batch: 3.63s, save: 0.14s) +[05/26 03:40:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4618 +[05/26 03:40:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4618: 0/1 successful episodes +[05/26 03:40:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4668 (index 15/35) +[05/26 03:40:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4668 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 03:40:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/26 03:40:35 Worker 0 WARNING object_manager.py:1238] Could not find object objaseashell_e37e9b7bc8ce44b4af0702e07a549ef6_1_0_5 in scene +[05/26 03:40:35 Worker 0 WARNING object_manager.py:1238] Could not find object objaaerosolcan_6275746374cf4768bbe8d2dcfeefb596_1_0_5 in scene +[2026-05-26 03:42:39,477] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:46:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 4668 episode 0 object objabarcodescanner_88317b5bfc0b4c14a5004c6d109c815b_1_0_4 completed with success=False +[05/26 03:46:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4668: 1 episodes +[05/26 03:46:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:46:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:46:29 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4668 +[05/26 03:46:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4668 in 2.68s (batch: 2.58s, save: 0.10s) +[05/26 03:46:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4668 +[05/26 03:46:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4668: 0/1 successful episodes +[05/26 03:46:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4710 (index 16/35) +[05/26 03:46:29 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4710 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 03:46:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +[05/26 03:46:46 Worker 0 WARNING object_manager.py:1238] Could not find object objanotebook_ca51d5e826594959a3b460e88ccabd0e_1_0_2 in scene +[05/26 03:46:46 Worker 0 WARNING object_manager.py:1238] Could not find object objapaymentterminal_5c6990d5820c40d3b864066504643219_1_0_2 in scene +[05/26 03:46:46 Worker 0 WARNING object_manager.py:1238] Could not find object objabirdmodel_08708444f40949d697340fd8f9d7cbeb_1_0_2 in scene +[05/26 03:46:46 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeobject_8c14ba2dddcb48cb9650e84fb60260e5_1_0_6 in scene +[05/26 03:46:46 Worker 0 WARNING object_manager.py:1238] Could not find object objaspring_1e6a7476f88c475ab5d86d8ac11e1752_2_0_6 in scene +[05/26 03:46:46 Worker 0 WARNING object_manager.py:1238] Could not find object objatissuebox_65d3d9a616c544f2b57f91c23ce4d68b_1_0_6 in scene +[2026-05-26 03:48:35,015] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:05:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 4710 episode 0 object objaspring_310f124af29745708b5393d7197d6fd5_1_0_6 completed with success=False +[05/26 04:05:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4710: 1 episodes +[05/26 04:05:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:05:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:05:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4710 +[05/26 04:05:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4710 in 3.12s (batch: 2.99s, save: 0.13s) +[05/26 04:05:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4710 +[05/26 04:05:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4710: 0/1 successful episodes +[05/26 04:05:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4747 (index 17/35) +[05/26 04:05:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4747 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 04:05:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[2026-05-26 04:07:16,892] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:07:44 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:12:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 4747 episode 0 object objahangingpot_079f67e3d21b4559a5ef90f538d130ab_1_0_2 completed with success=False +[05/26 04:12:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4747: 1 episodes +[05/26 04:12:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:12:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:12:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4747 +[05/26 04:12:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4747 in 3.55s (batch: 3.41s, save: 0.14s) +[05/26 04:12:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4747 +[05/26 04:12:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4747: 0/1 successful episodes +[05/26 04:12:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4786 (index 18/35) +[05/26 04:12:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4786 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 04:12:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/34 [00:00 does not support tracking retries. +[05/26 04:12:29 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene +[05/26 04:12:29 Worker 0 WARNING object_manager.py:1238] Could not find object objamacaron_750737aee1504384a8f8fa9bbe9aab02_3_0_8 in scene +[05/26 04:12:29 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_54a26e582c75bf5352d57ce6ff73c9ef_1_0_8 in scene +[2026-05-26 04:14:38,118] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:16:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:21:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 4786 episode 0 object objadigitalcamera_6149eddd5e0c4cf4a7dcd55bf6d4a4e7_1_0_9 completed with success=False +[05/26 04:21:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4786: 1 episodes +[05/26 04:21:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:21:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:21:49 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4786 +[05/26 04:21:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4786 in 2.80s (batch: 2.65s, save: 0.15s) +[05/26 04:21:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4786 +[05/26 04:21:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4786: 0/1 successful episodes +[05/26 04:21:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4788 (index 19/35) +[05/26 04:21:50 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4788 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 04:21:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[2026-05-26 04:23:12,226] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:23:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:27:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 4788 episode 0 object objalighter_5107e0007fdc4ed08be3f35aff7e5bb2_1_0_5 completed with success=False +[05/26 04:27:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[2026-05-26 04:29:37,630] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:30:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:34:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 4788 episode 1 object objasugarbowl_4cd9d4a7727c440f9b1bff2384bac433_1_0_8 completed with success=False +[05/26 04:34:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4788: 2 episodes +[05/26 04:34:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:34:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:34:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:34:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:34:15 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4788 +[05/26 04:34:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4788 in 5.58s (batch: 5.34s, save: 0.24s) +[05/26 04:34:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4788 +[05/26 04:34:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4788: 0/2 successful episodes +[05/26 04:34:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4815 (index 20/35) +[05/26 04:34:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4815 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 04:34:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 does not support tracking retries. +[2026-05-26 04:35:53,399] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:36:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:38:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 4815 episode 0 object objamechanicalclamp_c1a3633d2e274d369c0e3c4711957a17_1_0_3 completed with success=False +[05/26 04:38:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4815: 1 episodes +[05/26 04:38:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:38:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:38:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4815 +[05/26 04:38:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4815 in 2.55s (batch: 2.43s, save: 0.13s) +[05/26 04:38:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4815 +[05/26 04:38:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4815: 0/1 successful episodes +[05/26 04:38:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4871 (index 21/35) +[05/26 04:38:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4871 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 04:38:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +[05/26 04:39:00 Worker 0 WARNING object_manager.py:1238] Could not find object objaskull_1c828507e2a1477a84beee5b909a5e54_1_0_7 in scene +[05/26 04:39:00 Worker 0 WARNING object_manager.py:1238] Could not find object plate_d3f03fb737fec5e1ec6a907be81b1810_1_0_7 in scene +[2026-05-26 04:40:06,496] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:45:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 4871 episode 0 object objadecorativetape_a6bece29c668474c8a01a368941f0e9a_1_0_6 completed with success=False +[05/26 04:45:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4871: 1 episodes +[05/26 04:45:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:45:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:45:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4871 +[05/26 04:45:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4871 in 3.14s (batch: 2.97s, save: 0.18s) +[05/26 04:45:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4871 +[05/26 04:45:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4871: 0/1 successful episodes +[05/26 04:45:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4953 (index 22/35) +[05/26 04:45:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4953 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 04:45:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +[05/26 04:45:49 Worker 0 WARNING object_manager.py:1238] Could not find object objafantasycreaturehead_2e95179f4ce54e7c97d2ea97a58c65aa_1_0_6 in scene +[05/26 04:45:49 Worker 0 WARNING object_manager.py:1238] Could not find object egg_42ba097bdb4a3b55fe0b3765a6f91265_1_0_6 in scene +[2026-05-26 04:47:17,028] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:48:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:50:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 4953 episode 0 object objasculptingtool_f7f0c3b473e049aa84d9251793113418_1_0_4 completed with success=False +[05/26 04:51:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4953: 1 episodes +[05/26 04:51:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:51:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:51:06 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_4953 +[05/26 04:51:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4953 in 3.11s (batch: 3.01s, save: 0.10s) +[05/26 04:51:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4953 +[05/26 04:51:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4953: 0/1 successful episodes +[05/26 04:51:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5002 (index 23/35) +[05/26 04:51:07 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5002 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 04:51:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +[2026-05-26 04:53:07,843] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:56:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 5002 episode 0 object objaservicebell_fc203fd849ea46f0b84d4843ba1aafcd_1_0_3 completed with success=False +[05/26 04:56:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5002: 1 episodes +[05/26 04:56:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:57:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:57:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5002 +[05/26 04:57:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5002 in 3.22s (batch: 3.09s, save: 0.13s) +[05/26 04:57:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5002 +[05/26 04:57:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5002: 0/1 successful episodes +[05/26 04:57:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5057 (index 24/35) +[05/26 04:57:03 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5057 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 04:57:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +[2026-05-26 04:59:19,002] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:00:33 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:02:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 5057 episode 0 object objatoywand_2faf794f6078454592c6686acddc17b0_1_0_7 completed with success=True +[05/26 05:02:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5057: 1 episodes +[05/26 05:02:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 205 timesteps +[05/26 05:02:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:02:26 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5057 +[05/26 05:02:26 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5057 in 2.55s (batch: 2.46s, save: 0.09s) +[05/26 05:02:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5057 +[05/26 05:02:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5057: 1/1 successful episodes +[05/26 05:02:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5132 (index 25/35) +[05/26 05:02:26 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5132 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 05:02:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/26 05:02:40 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_6 in scene +[2026-05-26 05:04:22,784] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:09:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 5132 episode 0 object objaawl_a001d9c9ea68400d9e57893975d3d39d_2_0_4 completed with success=False +[05/26 05:09:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5132: 1 episodes +[05/26 05:09:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:09:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:09:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5132 +[05/26 05:09:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5132 in 4.56s (batch: 4.33s, save: 0.23s) +[05/26 05:09:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5132 +[05/26 05:09:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5132: 0/1 successful episodes +[05/26 05:09:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5142 (index 26/35) +[05/26 05:09:18 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 5142 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 05:09:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/63 [00:00 does not support tracking retries. +[2026-05-26 05:12:13,581] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:20:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 5142 episode 0 object objadecorativeornament_08adaa9d4e484e8da7131775db77ac78_1_0_8 completed with success=False +[05/26 05:20:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/63 [00:00 does not support tracking retries. +[2026-05-26 05:22:06,809] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:29:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 5142 episode 1 object objatube_747652d3308142278b333f1e2ee13549_1_0_9 completed with success=False +[05/26 05:29:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5142: 2 episodes +[05/26 05:29:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:29:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:29:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:29:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:29:37 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5142 +[05/26 05:29:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5142 in 9.13s (batch: 8.78s, save: 0.35s) +[05/26 05:29:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5142 +[05/26 05:29:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5142: 0/2 successful episodes +[05/26 05:29:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5174 (index 27/35) +[05/26 05:29:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5174 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 05:29:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +[2026-05-26 05:32:07,837] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:33:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:37:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 5174 episode 0 object objabeveragecarton_61219208844744ada5df6dadcb876a3d_1_0_7 completed with success=False +[05/26 05:37:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5174: 1 episodes +[05/26 05:37:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:37:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:37:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5174 +[05/26 05:37:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5174 in 2.53s (batch: 2.43s, save: 0.10s) +[05/26 05:37:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5174 +[05/26 05:37:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5174: 0/1 successful episodes +[05/26 05:37:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5237 (index 28/35) +[05/26 05:37:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5237 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 05:37:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/68 [00:00 does not support tracking retries. +[05/26 05:38:04 Worker 0 WARNING object_manager.py:1238] Could not find object houseplant_5a33e41cc968acc7d549ddb28876af28_1_0_6 in scene +[05/26 05:38:04 Worker 0 WARNING object_manager.py:1238] Could not find object alarmclock_aeaa8688740de7793897653762c5fc08_1_0_6 in scene +[2026-05-26 05:39:24,595] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:46:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 5237 episode 0 object objanoveltyitem_0ca62a91b19e49f6a832ab83806066a8_1_0_8 completed with success=False +[05/26 05:46:56 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5237: 1 episodes +[05/26 05:46:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:47:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:47:00 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5237 +[05/26 05:47:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5237 in 3.73s (batch: 3.43s, save: 0.30s) +[05/26 05:47:01 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5237 +[05/26 05:47:01 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5237: 0/1 successful episodes +[05/26 05:47:01 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5314 (index 29/35) +[05/26 05:47:01 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5314 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 05:47:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +[05/26 05:47:11 Worker 0 WARNING object_manager.py:1238] Could not find object objatrackshoe_de9588f97f644bd689fc6502f262575d_1_0_5 in scene +[05/26 05:47:11 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeband_26be4c662c434a66b9e15d66eb4130d8_1_0_5 in scene +[2026-05-26 05:49:11,464] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:56:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 5314 episode 0 object objalemon_4ee454c08f5c45a7ac12ffd484c6ec14_1_0_6 completed with success=False +[05/26 05:56:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5314: 1 episodes +[05/26 05:56:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:56:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:56:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5314 +[05/26 05:56:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5314 in 2.92s (batch: 2.80s, save: 0.12s) +[05/26 05:56:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5314 +[05/26 05:56:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5314: 0/1 successful episodes +[05/26 05:56:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5387 (index 30/35) +[05/26 05:56:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5387 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 05:56:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +[2026-05-26 05:58:06,276] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:58:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:01:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 5387 episode 0 object objacollectiblecard_ddf9b19ef12e455989cee7733c1fc115_1_0_4 completed with success=False +[05/26 06:01:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5387: 1 episodes +[05/26 06:01:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:01:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:01:58 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5387 +[05/26 06:01:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5387 in 2.50s (batch: 2.41s, save: 0.09s) +[05/26 06:01:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5387 +[05/26 06:01:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5387: 0/1 successful episodes +[05/26 06:01:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5435 (index 31/35) +[05/26 06:01:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5435 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 06:01:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[2026-05-26 06:03:32,100] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:04:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:12:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 5435 episode 0 object objaarrowhead_0ece42a1f78e4c98afad7367973dfc49_1_0_3 completed with success=False +[05/26 06:12:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5435: 1 episodes +[05/26 06:12:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:12:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:12:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5435 +[05/26 06:12:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5435 in 3.60s (batch: 3.36s, save: 0.25s) +[05/26 06:12:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5435 +[05/26 06:12:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5435: 0/1 successful episodes +[05/26 06:12:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5479 (index 32/35) +[05/26 06:12:19 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5479 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 06:12:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[2026-05-26 06:14:54,148] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:15:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:20:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 5479 episode 0 object objasmartphone_16b06a69ca97415792c42dd1dc63a4d3_1_0_6 completed with success=False +[05/26 06:20:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5479: 1 episodes +[05/26 06:20:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:20:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:20:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5479 +[05/26 06:20:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5479 in 4.13s (batch: 3.86s, save: 0.27s) +[05/26 06:20:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5479 +[05/26 06:20:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5479: 0/1 successful episodes +[05/26 06:20:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5508 (index 33/35) +[05/26 06:20:53 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5508 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 06:20:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/26 06:21:17 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeband_26be4c662c434a66b9e15d66eb4130d8_1_0_5 in scene +[05/26 06:21:17 Worker 0 WARNING object_manager.py:1238] Could not find object objacleaningsponge_f173c4e92f854efe86fa939466e08e4b_1_0_5 in scene +[2026-05-26 06:23:22,541] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:24:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:27:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 5508 episode 0 object objabottleopener_c7783daa48a6466a9ac5f43e8f86db54_1_0_6 completed with success=False +[05/26 06:27:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5508: 1 episodes +[05/26 06:27:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:27:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:27:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5508 +[05/26 06:27:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5508 in 2.89s (batch: 2.75s, save: 0.14s) +[05/26 06:27:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5508 +[05/26 06:27:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5508: 0/1 successful episodes +[05/26 06:27:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5543 (index 34/35) +[05/26 06:27:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5543 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_03 +[05/26 06:27:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/26 [00:00 does not support tracking retries. +[2026-05-26 06:29:10,026] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:29:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:33:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 5543 episode 0 object objamokapot_e359184cea054cb09b5c603845cb0231_1_0_6 completed with success=False +[05/26 06:33:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5543: 1 episodes +[05/26 06:33:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:33:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:33:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010440/house_5543 +[05/26 06:33:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5543 in 2.66s (batch: 2.57s, save: 0.09s) +[05/26 06:33:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5543 +[05/26 06:33:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5543: 0/1 successful episodes +[05/26 06:33:15 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses +[05/26 06:33:15 INFO pipeline.py:1496] Completed 35 houses, skipped 0 houses +[05/26 06:33:15 INFO pipeline.py:1499] Success count: 1, Total count: 38 +[05/26 06:33:15 INFO pipeline.py:1500] Success rate: 2.63% +Combined 38 episodes from 35 files → /tmp/tmpkk88wi58.h5 + +Saved → /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/results.csv at-end: 2.63% | oracle: 2.63% of 38 episodes +[2026-05-26 06:33:19,665] INFO MolmoSpaces simulator eval finished: success=1/38 rate=0.0263 output=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval +[2026-05-26 06:33:19,665] INFO Benchmark CSV: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval/results.csv + +Submission artifacts ready: + CSV : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/submission/results.csv + Bundle zip : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/submission_bundle.zip + Summary : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/submission/summary.json + Full eval output : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/eval + Repro command : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_03/run_command.sh diff --git a/pnp_v2/pnp_v2/submission/shard_04.launcher.log b/pnp_v2/pnp_v2/submission/shard_04.launcher.log new file mode 100644 index 0000000000000000000000000000000000000000..0866b5ccd2d9746337fac9cf67384cf159bc6477 --- /dev/null +++ b/pnp_v2/pnp_v2/submission/shard_04.launcher.log @@ -0,0 +1,1700 @@ +================================================================================ +Official MolmoSpaces Submission Run +================================================================================ +Checkpoint : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt +Benchmark dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +Output root : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04 +Eval output dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval +Submission dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/submission +Conda env : molmospace +Policy name : latest +Policy device : cuda:0 +Text embedding device : cpu +Prompt cache dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan +Workers : 1 +Task horizon steps : 450 +Action chunk size : 8 +Obs camera : droid_shoulder_light_randomization +Obs wrist camera : wrist_camera_zed_mini +Camera names : droid_shoulder_light_randomization wrist_camera_zed_mini +Preview camera names : droid_shoulder_light_randomization +End on success : 1 +Visualization : 0 +Save raw videos : 0 +Save video sensors : __none__ +Success condition (CSV) : both + +Official runner : molmo_spaces.evaluation.run_evaluation() +CSV exporter : molmospaces/scripts/benchmarks/eval_to_csv.py + +Command +conda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament +================================================================================ +[2026-05-26 01:03:53,519] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath'] +[2026-05-26 01:03:53,583] INFO Selected MuJoCo backend: egl +[2026-05-26 01:03:53,645] INFO Using MolmoSpaces benchmark: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 (source=arg) +[2026-05-26 01:03:56,468] INFO No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +[nltk_data] Downloading package wordnet to /home/yuanpei/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /home/yuanpei/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +[2026-05-26 01:04:10,977] INFO ResourceManager (R2RemoteStorage('https://pub-3555e9bb2d304fab9c6c79819e48aa40.r2.dev')) using: + symlink_dir=/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets + cache_dir=/home/yuanpei/.cache/molmo-spaces-resources + force_install=True +/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py:129: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +[2026-05-26 01:04:40,137] INFO Requested MolmoSpaces simulator cameras: ['droid_shoulder_light_randomization', 'wrist_camera_zed_mini'] +[2026-05-26 01:04:40,140] INFO Using save_video_sensors=['__none__'] +[2026-05-26 01:04:43,584] INFO Resolved MolmoSpaces action semantics from checkpoint: source=pnp_next_to_v2 type=molmo_raw arm_action_key=joint_pos_rel gripper_action_key=joint_pos action_type=joint_pos_rel arm_command_mode=joint_rel_position +[2026-05-26 01:04:43,661] INFO Using explicit task_horizon override: 450 steps +[05/26 01:04:43 INFO pipeline.py:677] WandB logging disabled (environment variables not set) +[2026-05-26 01:04:43,744] INFO JsonEvalRunner initialized: 42 houses, 47 episodes from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 01:04:43 INFO pipeline.py:1279] Starting house-by-house rollout of 42 houses with 2 episodes each (84 total episodes) using 1 worker processes +[05/26 01:04:43 INFO pipeline.py:1286] Evaluation configuration: +[05/26 01:04:43 INFO pipeline.py:1287] {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['droid_shoulder_light_randomization', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 'wan_molmobot_franka', + 'obs_camera_name': 'droid_shoulder_light_randomization', + 'obs_image_key': 'rgb_head', + 'obs_state_key': 'robot_state', + 'obs_wrist_camera_name': 'wrist_camera_zed_mini', + 'obs_wrist_image_key': 'rgb_wrist', + 'policy_cls': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [3613, + 3654, + 3698, + 3764, + 3794, + 3881, + 3911, + 3957, + 3995, + 4038, + 4097, + 4108, + 4158, + 4255, + 4316, + 4359, + 4390, + 4433, + 4439, + 4507, + 4551, + 4619, + 4682, + 4715, + 4749, + 4792, + 4819, + 4837, + 4880, + 4960, + 5006, + 5068, + 5134, + 5173, + 5185, + 5242, + 5320, + 5401, + 5436, + 5481, + 5509, + 5549], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} +[2026-05-26 01:04:43,755] INFO Saved experiment configuration to /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443 +[05/26 01:04:43 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler +[05/26 01:04:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/26 01:04:43 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler +[05/26 01:04:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3613 (index 0/42) +[05/26 01:04:43 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 3613 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 01:04:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +2026-05-26 01:05:07.904 | INFO | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0 +[2026-05-26 01:05:34,483] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k) +[2026-05-26 01:05:35,265] INFO [timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k] Safe alternative available for 'pytorch_model.bin' (as 'model.safetensors'). Loading weights using safetensors. +[2026-05-26 01:07:26,938] INFO Number of parameters in DiT: 1.821428e+07 +[2026-05-26 01:07:45,931] INFO Loaded generic psi-policy checkpoint | target=psi_policy.policy.psi_policy.PsiPolicy | obs_keys=['rgb_head', 'rgb_wrist', 'robot_state', 'text_context'] | action_horizon=16 | action_dim=8 +[2026-05-26 01:07:45,940] INFO Loaded MolmoSpaces policy | checkpoint=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt | target=psi_policy.policy.psi_policy.PsiPolicy | device=cuda:0 | action_chunk_size=8 +[05/26 01:07:49 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:14:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 3613 episode 0 object objadecorativechain_920dd47d98484df4a23b8dee1b378c6a_1_0_4 completed with success=False +[05/26 01:14:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +[05/26 01:16:19 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:22:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 3613 episode 1 object objacorkscrew_dd933eddfb3d4750b7e448c06b4f5b9b_1_0_9 completed with success=False +[05/26 01:22:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3613: 2 episodes +[05/26 01:22:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:22:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:22:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:22:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:22:58 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_3613 +[05/26 01:22:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3613 in 7.29s (batch: 6.88s, save: 0.42s) +[05/26 01:22:59 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3613 +[05/26 01:22:59 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3613: 0/2 successful episodes +[05/26 01:22:59 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3654 (index 1/42) +[05/26 01:22:59 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3654 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 01:22:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +[05/26 01:23:07 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativepiece_93f70ada5c2749df8be5fb5626996ddb_1_0_2 in scene +[05/26 01:23:07 Worker 0 WARNING object_manager.py:1238] Could not find object cup_9df8195c6a720a832db419cda59aabee_1_0_2 in scene +[05/26 01:23:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:26:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 3654 episode 0 object objacoilspring_5fbce9acb31c4fabb46a7420de72f661_2_0_8 completed with success=False +[05/26 01:26:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3654: 1 episodes +[05/26 01:26:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:26:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:26:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_3654 +[05/26 01:26:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3654 in 2.15s (batch: 2.06s, save: 0.09s) +[05/26 01:26:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3654 +[05/26 01:26:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3654: 0/1 successful episodes +[05/26 01:26:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3698 (index 2/42) +[05/26 01:26:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3698 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 01:26:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +[2026-05-26 01:31:37,951] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/huggingface_hub/file_download.py:945: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`. + warnings.warn( +[05/26 01:35:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 3698 episode 0 object Irishpotato_19394b332cf16c9d218c9f434ecf9c48_1_0_6 completed with success=False +[05/26 01:35:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3698: 1 episodes +[05/26 01:35:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:35:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:35:29 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_3698 +[05/26 01:35:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3698 in 3.83s (batch: 3.67s, save: 0.16s) +[05/26 01:35:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3698 +[05/26 01:35:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3698: 0/1 successful episodes +[05/26 01:35:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3764 (index 3/42) +[05/26 01:35:30 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3764 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 01:35:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/6 [00:00 does not support tracking retries. +[2026-05-26 01:37:25,646] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 01:38:13 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:42:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 3764 episode 0 object objamedallion_5a82fc538d6a4e3e892fc154b97db567_1_0_2 completed with success=False +[05/26 01:42:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3764: 1 episodes +[05/26 01:42:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:42:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:42:43 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_3764 +[05/26 01:42:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3764 in 2.60s (batch: 2.50s, save: 0.10s) +[05/26 01:42:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3764 +[05/26 01:42:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3764: 0/1 successful episodes +[05/26 01:42:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3794 (index 4/42) +[05/26 01:42:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3794 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 01:42:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +[2026-05-26 01:47:20,336] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 01:47:39 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:49:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 3794 episode 0 object objadish_6b1974fb0d09499f9b3af20884c706f5_1_0_6 completed with success=False +[05/26 01:49:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3794: 1 episodes +[05/26 01:49:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:49:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:49:43 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_3794 +[05/26 01:49:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3794 in 2.14s (batch: 2.05s, save: 0.09s) +[05/26 01:49:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3794 +[05/26 01:49:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3794: 0/1 successful episodes +[05/26 01:49:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3881 (index 5/42) +[05/26 01:49:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3881 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 01:49:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +[05/26 01:55:31 Worker 0 WARNING object_manager.py:1238] Could not find object objafossilslab_6d4fbdf94fdd4665b6b43c024300b0e7_1_0_6 in scene +[2026-05-26 01:56:31,966] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 01:57:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:03:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 3881 episode 0 object objacleaningbottle_45049b8d74a44f239fe1d1403cf98b49_1_0_6 completed with success=False +[05/26 02:03:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3881: 1 episodes +[05/26 02:03:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:03:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:03:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_3881 +[05/26 02:03:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3881 in 4.07s (batch: 3.89s, save: 0.18s) +[05/26 02:03:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3881 +[05/26 02:03:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3881: 0/1 successful episodes +[05/26 02:03:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3911 (index 6/42) +[05/26 02:03:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3911 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 02:03:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/33 [00:00 does not support tracking retries. +[2026-05-26 02:06:27,475] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:07:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:11:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 3911 episode 0 object objakeyholder_7e8733261a034ef5b0302f1ee2fe2554_1_0_7 completed with success=False +[05/26 02:11:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3911: 1 episodes +[05/26 02:11:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:11:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:11:15 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_3911 +[05/26 02:11:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3911 in 2.59s (batch: 2.46s, save: 0.13s) +[05/26 02:11:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3911 +[05/26 02:11:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3911: 0/1 successful episodes +[05/26 02:11:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3957 (index 7/42) +[05/26 02:11:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3957 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 02:11:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/17 [00:00 does not support tracking retries. +[05/26 02:11:21 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeplant_8df90a175a73420a856c3c9cacc7fb8b_1_0_2 in scene +[05/26 02:11:21 Worker 0 WARNING object_manager.py:1238] Could not find object Irishpotato_19394b332cf16c9d218c9f434ecf9c48_1_0_2 in scene +[2026-05-26 02:13:21,265] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:14:08 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:15:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 3957 episode 0 object cup_10a41d8e2f259cb0d60e0069b1683f0a_1_0_2 completed with success=True +[05/26 02:15:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3957: 1 episodes +[05/26 02:15:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 117 timesteps +[05/26 02:15:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:15:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_3957 +[05/26 02:15:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3957 in 2.87s (batch: 2.78s, save: 0.09s) +[05/26 02:15:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3957 +[05/26 02:15:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3957: 1/1 successful episodes +[05/26 02:15:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3995 (index 8/42) +[05/26 02:15:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3995 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 02:15:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +[05/26 02:15:43 Worker 0 WARNING object_manager.py:1238] Could not find object objatissuebox_65d3d9a616c544f2b57f91c23ce4d68b_1_0_7 in scene +[2026-05-26 02:17:18,465] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:21:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 3995 episode 0 object objacanopener_59a4d5ccb6cb449ab0b2c6ab2be80d2e_1_0_7 completed with success=False +[05/26 02:21:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3995: 1 episodes +[05/26 02:21:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:21:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:21:12 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_3995 +[05/26 02:21:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3995 in 3.00s (batch: 2.89s, save: 0.11s) +[05/26 02:21:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3995 +[05/26 02:21:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3995: 0/1 successful episodes +[05/26 02:21:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4038 (index 9/42) +[05/26 02:21:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4038 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 02:21:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +[2026-05-26 02:23:03,032] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:30:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 4038 episode 0 object objaammunition_b61e46bd1fa64f54a74c45716ab23979_1_0_2 completed with success=False +[05/26 02:30:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4038: 1 episodes +[05/26 02:30:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:30:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:30:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4038 +[05/26 02:30:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4038 in 3.12s (batch: 2.97s, save: 0.15s) +[05/26 02:30:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4038 +[05/26 02:30:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4038: 0/1 successful episodes +[05/26 02:30:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4097 (index 10/42) +[05/26 02:30:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4097 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 02:30:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +[2026-05-26 02:31:57,682] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:32:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:37:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 4097 episode 0 object objafoodpacket_a784c3ce29d44a899afe3f80a20e4fec_1_0_2 completed with success=False +[05/26 02:37:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4097: 1 episodes +[05/26 02:37:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:37:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:37:28 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4097 +[05/26 02:37:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4097 in 2.89s (batch: 2.76s, save: 0.12s) +[05/26 02:37:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4097 +[05/26 02:37:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4097: 0/1 successful episodes +[05/26 02:37:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4108 (index 11/42) +[05/26 02:37:29 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4108 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 02:37:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +[2026-05-26 02:39:50,125] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:41:14 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:48:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 4108 episode 0 object objastonetool_7e12d60c307948c787db921d89ab484e_1_0_7 completed with success=False +[05/26 02:48:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/51 [00:00 does not support tracking retries. +[2026-05-26 02:50:18,231] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:51:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:55:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 4108 episode 1 object objasecuritydevice_dd640cbe9b2444ecb928d3b5b0e67956_1_0_8 completed with success=False +[05/26 02:55:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4108: 2 episodes +[05/26 02:55:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:55:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:55:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:55:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:55:47 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4108 +[05/26 02:55:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4108 in 9.81s (batch: 9.54s, save: 0.27s) +[05/26 02:55:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4108 +[05/26 02:55:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4108: 0/2 successful episodes +[05/26 02:55:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4158 (index 12/42) +[05/26 02:55:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4158 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 02:55:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 does not support tracking retries. +[05/26 02:56:01 Worker 0 WARNING object_manager.py:1238] Could not find object objacleaningsponge_97aee64edf0c4521b82416f3b30c61ce_1_0_2 in scene +[05/26 02:56:01 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_f0846a72f73828807b0c951bdb6dfbba_1_0_2 in scene +[2026-05-26 02:58:33,511] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:00:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:06:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 4158 episode 0 object objamarblesculpture_969d17f91b324a6c9e0b1d1f649a1463_1_0_6 completed with success=False +[05/26 03:06:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4158: 1 episodes +[05/26 03:06:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:06:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:06:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4158 +[05/26 03:06:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4158 in 3.77s (batch: 3.47s, save: 0.29s) +[05/26 03:06:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4158 +[05/26 03:06:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4158: 0/1 successful episodes +[05/26 03:06:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4255 (index 13/42) +[05/26 03:06:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4255 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 03:06:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +[05/26 03:06:49 Worker 0 WARNING object_manager.py:1238] Could not find object objatooth_4ec84bfdbbec4663b9a730ef943e0768_1_0_7 in scene +[05/26 03:06:49 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativecandle_0c791ace8deb4316bd377aa7fb553517_1_0_7 in scene +[2026-05-26 03:09:10,768] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:10:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:15:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 4255 episode 0 object objastonetool_0d64f72ecbea4c5fb37b0a41f6f458d5_1_0_9 completed with success=False +[05/26 03:15:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4255: 1 episodes +[05/26 03:15:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:15:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:15:29 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4255 +[05/26 03:15:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4255 in 3.00s (batch: 2.87s, save: 0.12s) +[05/26 03:15:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4255 +[05/26 03:15:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4255: 0/1 successful episodes +[05/26 03:15:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4316 (index 14/42) +[05/26 03:15:30 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4316 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 03:15:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/17 [00:00 does not support tracking retries. +[2026-05-26 03:17:20,206] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:22:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 4316 episode 0 object objabouquet_8dab593c78374d59abcf66c8185249cb_1_0_3 completed with success=True +[05/26 03:22:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4316: 1 episodes +[05/26 03:22:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 370 timesteps +[05/26 03:22:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:22:24 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4316 +[05/26 03:22:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4316 in 2.94s (batch: 2.85s, save: 0.09s) +[05/26 03:22:25 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4316 +[05/26 03:22:25 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4316: 1/1 successful episodes +[05/26 03:22:25 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4359 (index 15/42) +[05/26 03:22:25 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4359 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 03:22:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/34 [00:00 does not support tracking retries. +[2026-05-26 03:23:45,187] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:24:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:27:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 4359 episode 0 object objacheesecake_f656e887c0844a23aa5df47eaf76d63e_1_0_8 completed with success=False +[05/26 03:27:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4359: 1 episodes +[05/26 03:27:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:27:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:27:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4359 +[05/26 03:27:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4359 in 3.68s (batch: 3.50s, save: 0.18s) +[05/26 03:27:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4359 +[05/26 03:27:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4359: 0/1 successful episodes +[05/26 03:27:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4390 (index 16/42) +[05/26 03:27:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4390 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 03:27:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +[05/26 03:27:32 Worker 0 WARNING object_manager.py:1238] Could not find object objaspindle_cf27bc1815e44fac9abb6bc66065dda4_1_0_2 in scene +[05/26 03:27:32 Worker 0 WARNING object_manager.py:1238] Could not find object apple_87e4661e0aaedff69f751b5ac78bd93c_1_0_2 in scene +[2026-05-26 03:29:43,625] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:30:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:36:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 4390 episode 0 object objadecorativemolding_e8abdfe4286045ae8262f9122ad077a9_1_0_6 completed with success=False +[05/26 03:36:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4390: 1 episodes +[05/26 03:36:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:36:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:36:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4390 +[05/26 03:36:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4390 in 4.28s (batch: 4.07s, save: 0.21s) +[05/26 03:36:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4390 +[05/26 03:36:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4390: 0/1 successful episodes +[05/26 03:36:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4433 (index 17/42) +[05/26 03:36:54 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4433 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 03:36:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/26 03:37:17 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingpanel_8bde878be8dd4fb7b6914db9c4dd31bb_1_0_3 in scene +[05/26 03:37:17 Worker 0 WARNING object_manager.py:1238] Could not find object objatapedispenser_44f566f4b8a34fd7b904dd55359017ed_1_0_5 in scene +[05/26 03:37:17 Worker 0 WARNING object_manager.py:1238] Could not find object objadispenser_dae48a392c5a4f3aa00235e664ee7d4d_1_0_5 in scene +[2026-05-26 03:39:37,734] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:40:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:45:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 4433 episode 0 object objamountingbracket_39d9fb9c81b84ac0a0410235c8c85319_2_0_6 completed with success=False +[05/26 03:45:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[05/26 03:45:56 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingpanel_8bde878be8dd4fb7b6914db9c4dd31bb_1_0_3 in scene +[05/26 03:45:56 Worker 0 WARNING object_manager.py:1238] Could not find object objatapedispenser_44f566f4b8a34fd7b904dd55359017ed_1_0_5 in scene +[05/26 03:45:56 Worker 0 WARNING object_manager.py:1238] Could not find object objadispenser_dae48a392c5a4f3aa00235e664ee7d4d_1_0_5 in scene +[2026-05-26 03:47:20,948] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:48:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:53:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 4433 episode 1 object objasugarbowl_9b683d621e1b4ca384050d16215b1f5b_1_0_2 completed with success=False +[05/26 03:53:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4433: 2 episodes +[05/26 03:53:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:53:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:53:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:53:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:53:47 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4433 +[05/26 03:53:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4433 in 6.90s (batch: 6.60s, save: 0.29s) +[05/26 03:53:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4433 +[05/26 03:53:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4433: 0/2 successful episodes +[05/26 03:53:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4439 (index 18/42) +[05/26 03:53:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4439 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 03:53:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +[2026-05-26 03:55:39,050] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:56:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:00:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 4439 episode 0 object objalemonsqueezer_5679cddc744c4f39b731890788405de6_1_0_6 completed with success=False +[05/26 04:00:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4439: 1 episodes +[05/26 04:00:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:00:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:00:28 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4439 +[05/26 04:00:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4439 in 3.12s (batch: 2.98s, save: 0.13s) +[05/26 04:00:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4439 +[05/26 04:00:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4439: 0/1 successful episodes +[05/26 04:00:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4507 (index 19/42) +[05/26 04:00:29 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4507 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 04:00:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[2026-05-26 04:02:41,249] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:04:08 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:07:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 4507 episode 0 object vase_485850bef5e28630dd1156aaec2e3528_1_0_4 completed with success=False +[05/26 04:07:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4507: 1 episodes +[05/26 04:07:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:07:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:07:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4507 +[05/26 04:07:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4507 in 2.57s (batch: 2.45s, save: 0.12s) +[05/26 04:07:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4507 +[05/26 04:07:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4507: 0/1 successful episodes +[05/26 04:07:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4551 (index 20/42) +[05/26 04:07:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4551 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 04:07:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +[05/26 04:08:08 Worker 0 WARNING object_manager.py:1238] Could not find object box_70f31162bf3c1176ddc74f3417271d3f_1_0_3 in scene +[05/26 04:08:08 Worker 0 WARNING object_manager.py:1238] Could not find object objahikingshoe_41c91f680a55496ca83144519402c2f6_1_0_5 in scene +[2026-05-26 04:10:20,251] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:11:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:20:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 4551 episode 0 object objadriedfish_b94ddf2091234161818b07461044cb2f_1_0_2 completed with success=False +[05/26 04:20:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4551: 1 episodes +[05/26 04:20:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:20:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:20:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4551 +[05/26 04:20:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4551 in 3.35s (batch: 3.20s, save: 0.16s) +[05/26 04:20:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4551 +[05/26 04:20:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4551: 0/1 successful episodes +[05/26 04:20:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4619 (index 21/42) +[05/26 04:20:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4619 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 04:20:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +[2026-05-26 04:22:34,134] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:22:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:25:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 4619 episode 0 object objaheadpiece_2d4d3d4f56d345bcaafdf60a5a19741f_1_0_2 completed with success=False +[05/26 04:25:35 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4619: 1 episodes +[05/26 04:25:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:25:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:25:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4619 +[05/26 04:25:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4619 in 2.61s (batch: 2.49s, save: 0.13s) +[05/26 04:25:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4619 +[05/26 04:25:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4619: 0/1 successful episodes +[05/26 04:25:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4682 (index 22/42) +[05/26 04:25:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4682 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 04:25:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +[2026-05-26 04:27:47,546] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:32:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 4682 episode 0 object objagrenade_d61768fbc7494143bb87852c36d1beaa_1_0_4 completed with success=False +[05/26 04:32:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4682: 1 episodes +[05/26 04:32:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:33:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:33:01 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4682 +[05/26 04:33:01 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4682 in 4.05s (batch: 3.85s, save: 0.20s) +[05/26 04:33:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4682 +[05/26 04:33:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4682: 0/1 successful episodes +[05/26 04:33:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4715 (index 23/42) +[05/26 04:33:02 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4715 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 04:33:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +[2026-05-26 04:34:45,869] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:35:14 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:37:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 4715 episode 0 object objawoodencarving_6589b07c9b2d49778e08d7e6110c04c6_1_0_7 completed with success=False +[05/26 04:38:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4715: 1 episodes +[05/26 04:38:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:38:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:38:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4715 +[05/26 04:38:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4715 in 2.63s (batch: 2.49s, save: 0.14s) +[05/26 04:38:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4715 +[05/26 04:38:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4715: 0/1 successful episodes +[05/26 04:38:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4749 (index 24/42) +[05/26 04:38:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4749 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 04:38:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/20 [00:00 does not support tracking retries. +[2026-05-26 04:39:18,162] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:41:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 4749 episode 0 object objamount_b44ed71003e149cc98576162a09d588c_1_0_2 completed with success=False +[05/26 04:41:46 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4749: 1 episodes +[05/26 04:41:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:41:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:41:49 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4749 +[05/26 04:41:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4749 in 2.59s (batch: 2.47s, save: 0.13s) +[05/26 04:41:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4749 +[05/26 04:41:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4749: 0/1 successful episodes +[05/26 04:41:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4792 (index 25/42) +[05/26 04:41:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4792 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 04:41:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/8 [00:00 does not support tracking retries. +[2026-05-26 04:43:46,826] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:44:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:47:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 4792 episode 0 object objaairblower_c1894126b3394345835758d674b7435e_1_0_2 completed with success=False +[05/26 04:47:50 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4792: 1 episodes +[05/26 04:47:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:47:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:47:54 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4792 +[05/26 04:47:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4792 in 3.63s (batch: 3.41s, save: 0.22s) +[05/26 04:47:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4792 +[05/26 04:47:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4792: 0/1 successful episodes +[05/26 04:47:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4819 (index 26/42) +[05/26 04:47:55 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4819 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 04:47:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +[05/26 04:48:04 Worker 0 WARNING object_manager.py:1238] Could not find object objahandrailendcap_54719855275e49439cf3c5ba812d8653_1_0_2 in scene +[05/26 04:48:04 Worker 0 WARNING object_manager.py:1238] Could not find object objasmokegrenade_6a086a3c3a324ffa90f3187c03c83ffb_1_0_2 in scene +[2026-05-26 04:49:53,466] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:50:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:53:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 4819 episode 0 object objahandheldtool_a4d19db995b5462ebf75c3d9aa9c8d25_1_0_2 completed with success=True +[05/26 04:53:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4819: 1 episodes +[05/26 04:53:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 429 timesteps +[05/26 04:53:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:53:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4819 +[05/26 04:53:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4819 in 2.68s (batch: 2.55s, save: 0.12s) +[05/26 04:53:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4819 +[05/26 04:53:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4819: 1/1 successful episodes +[05/26 04:53:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4837 (index 27/42) +[05/26 04:53:14 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4837 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 04:53:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[05/26 04:53:21 Worker 0 WARNING object_manager.py:1238] Could not find object houseplant_dcbdb95728216d04e9812af06a792bb7_1_0_9 in scene +[05/26 04:53:21 Worker 0 WARNING object_manager.py:1238] Could not find object plate_3a462adb63be096cddd3c836fdb52686_1_0_9 in scene +[2026-05-26 04:54:39,766] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:55:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:58:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 4837 episode 0 object objabowtie_09095656ad6243c08d4efdf20e43de8d_1_0_9 completed with success=False +[05/26 04:58:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[05/26 04:58:20 Worker 0 WARNING object_manager.py:1238] Could not find object houseplant_dcbdb95728216d04e9812af06a792bb7_1_0_9 in scene +[05/26 04:58:20 Worker 0 WARNING object_manager.py:1238] Could not find object plate_3a462adb63be096cddd3c836fdb52686_1_0_9 in scene +[2026-05-26 05:00:31,243] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:05:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 4837 episode 1 object objastylus_afd41dae770041319dec594ab1d3df79_1_0_6 completed with success=False +[05/26 05:05:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4837: 2 episodes +[05/26 05:05:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:05:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:05:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:05:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:05:23 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4837 +[05/26 05:05:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4837 in 7.44s (batch: 7.21s, save: 0.23s) +[05/26 05:05:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4837 +[05/26 05:05:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4837: 0/2 successful episodes +[05/26 05:05:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4880 (index 28/42) +[05/26 05:05:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4880 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 05:05:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +[05/26 05:05:39 Worker 0 WARNING object_manager.py:1238] Could not find object tomato_d8374542ffb24dad411e5cff170ec0f6_1_0_2 in scene +[2026-05-26 05:07:32,860] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:15:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 4880 episode 0 object objastamp_34a49861e7744acfb71de471a755e917_1_0_7 completed with success=False +[05/26 05:15:06 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4880: 1 episodes +[05/26 05:15:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:15:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:15:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4880 +[05/26 05:15:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4880 in 4.02s (batch: 3.83s, save: 0.18s) +[05/26 05:15:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4880 +[05/26 05:15:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4880: 0/1 successful episodes +[05/26 05:15:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4960 (index 29/42) +[05/26 05:15:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4960 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 05:15:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/14 [00:00 does not support tracking retries. +[2026-05-26 05:17:34,856] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:18:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:21:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 4960 episode 0 object objabluetoothspeaker_8280c95c7e1f413489cf7e52db89bf93_1_0_3 completed with success=False +[05/26 05:21:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4960: 1 episodes +[05/26 05:21:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:21:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:21:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_4960 +[05/26 05:21:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4960 in 2.64s (batch: 2.52s, save: 0.12s) +[05/26 05:21:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4960 +[05/26 05:21:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4960: 0/1 successful episodes +[05/26 05:21:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5006 (index 30/42) +[05/26 05:21:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5006 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 05:21:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +[2026-05-26 05:23:49,337] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:25:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:29:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 5006 episode 0 object objadomino_c97ea56f249340cea90c4f66e84108dc_1_0_4 completed with success=False +[05/26 05:30:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5006: 1 episodes +[05/26 05:30:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:30:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:30:06 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5006 +[05/26 05:30:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5006 in 4.03s (batch: 3.85s, save: 0.18s) +[05/26 05:30:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5006 +[05/26 05:30:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5006: 0/1 successful episodes +[05/26 05:30:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5068 (index 31/42) +[05/26 05:30:07 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5068 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 05:30:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +[2026-05-26 05:32:10,269] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:33:44 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:37:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 5068 episode 0 object objaplayingcard_76e975ae10fb435da53120fb7d8bf835_1_0_6 completed with success=False +[05/26 05:37:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5068: 1 episodes +[05/26 05:37:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:37:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:37:25 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5068 +[05/26 05:37:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5068 in 2.60s (batch: 2.38s, save: 0.22s) +[05/26 05:37:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5068 +[05/26 05:37:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5068: 0/1 successful episodes +[05/26 05:37:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5134 (index 32/42) +[05/26 05:37:26 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5134 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 05:37:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/13 [00:00 does not support tracking retries. +[2026-05-26 05:38:52,060] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:42:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 5134 episode 0 object objaemblem_d946fb54e46e4db7979bbb6fcf65fc32_1_0_3 completed with success=False +[05/26 05:42:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5134: 1 episodes +[05/26 05:42:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:42:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:42:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5134 +[05/26 05:42:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5134 in 3.23s (batch: 3.04s, save: 0.20s) +[05/26 05:42:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5134 +[05/26 05:42:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5134: 0/1 successful episodes +[05/26 05:42:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5173 (index 33/42) +[05/26 05:42:36 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 5173 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 05:42:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +[05/26 05:42:53 Worker 0 WARNING object_manager.py:1238] Could not find object objavirusmodel_b74bf64ba5c24b83b0dfffc944d8d20d_1_0_4 in scene +[05/26 05:42:53 Worker 0 WARNING object_manager.py:1238] Could not find object objamagnet_a734ce1339d44d2fbad906439777be78_1_0_4 in scene +[05/26 05:42:53 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturetower_f304563fd62241368b13c271ff4cc41d_1_0_5 in scene +[05/26 05:42:53 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaperroll_e1cf65984fff46168396e0b74861f845_1_0_5 in scene +[05/26 05:42:53 Worker 0 WARNING object_manager.py:1238] Could not find object objatoyfish_40002de7ecf64a82af4abbbec26171b6_1_0_7 in scene +[2026-05-26 05:45:13,973] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:46:23 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:51:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 5173 episode 0 object objacheese_150156b49a984e5d9c0e672894da5a3e_1_0_2 completed with success=False +[05/26 05:51:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +[05/26 05:51:17 Worker 0 WARNING object_manager.py:1238] Could not find object objavirusmodel_b74bf64ba5c24b83b0dfffc944d8d20d_1_0_4 in scene +[05/26 05:51:17 Worker 0 WARNING object_manager.py:1238] Could not find object objamagnet_a734ce1339d44d2fbad906439777be78_1_0_4 in scene +[05/26 05:51:17 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturetower_f304563fd62241368b13c271ff4cc41d_1_0_5 in scene +[05/26 05:51:17 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaperroll_e1cf65984fff46168396e0b74861f845_1_0_5 in scene +[05/26 05:51:17 Worker 0 WARNING object_manager.py:1238] Could not find object objatoyfish_40002de7ecf64a82af4abbbec26171b6_1_0_7 in scene +[2026-05-26 05:53:13,470] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:58:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 5173 episode 1 object objanutcracker_94c36df60580408ea582ad83c55cdca0_1_0_8 completed with success=False +[05/26 05:58:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5173: 2 episodes +[05/26 05:58:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:59:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:59:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:59:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:59:04 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5173 +[05/26 05:59:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5173 in 5.15s (batch: 4.93s, save: 0.22s) +[05/26 05:59:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5173 +[05/26 05:59:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5173: 0/2 successful episodes +[05/26 05:59:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5185 (index 34/42) +[05/26 05:59:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5185 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 05:59:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +[05/26 05:59:23 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingpanel_a3d6f7df9ff94ed59f95d5086d5f3fdd_1_0_4 in scene +[2026-05-26 06:01:05,646] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:04:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 5185 episode 0 object vase_0db9e9dc4d41a9e8ceaa58f142da5baa_1_0_6 completed with success=False +[05/26 06:04:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5185: 1 episodes +[05/26 06:04:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:04:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:04:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5185 +[05/26 06:04:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5185 in 4.02s (batch: 3.88s, save: 0.14s) +[05/26 06:04:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5185 +[05/26 06:04:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5185: 0/1 successful episodes +[05/26 06:04:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5242 (index 35/42) +[05/26 06:04:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5242 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 06:04:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +[2026-05-26 06:06:37,882] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:08:03 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:12:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 5242 episode 0 object objagpsdevice_5ec82b191b4d44b299cb1fcea0308296_1_0_4 completed with success=False +[05/26 06:12:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5242: 1 episodes +[05/26 06:12:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:12:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:12:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5242 +[05/26 06:12:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5242 in 3.77s (batch: 3.55s, save: 0.21s) +[05/26 06:12:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5242 +[05/26 06:12:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5242: 0/1 successful episodes +[05/26 06:12:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5320 (index 36/42) +[05/26 06:12:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5320 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 06:12:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[2026-05-26 06:14:41,211] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:15:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:19:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 5320 episode 0 object objafibercleaver_1b640217473f40508802bc5a114f876d_1_0_9 completed with success=False +[05/26 06:19:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5320: 1 episodes +[05/26 06:19:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:19:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:19:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5320 +[05/26 06:19:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5320 in 3.97s (batch: 3.79s, save: 0.17s) +[05/26 06:19:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5320 +[05/26 06:19:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5320: 0/1 successful episodes +[05/26 06:19:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5401 (index 37/42) +[05/26 06:19:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5401 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 06:19:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/53 [00:00 does not support tracking retries. +[2026-05-26 06:22:05,966] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:23:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:26:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 5401 episode 0 object objabutton_d11a2951f1d24e458c6d5a6b3f79db73_1_0_8 completed with success=False +[05/26 06:26:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5401: 1 episodes +[05/26 06:26:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:26:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:26:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5401 +[05/26 06:26:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5401 in 2.43s (batch: 2.32s, save: 0.12s) +[05/26 06:26:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5401 +[05/26 06:26:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5401: 0/1 successful episodes +[05/26 06:26:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5436 (index 38/42) +[05/26 06:26:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5436 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 06:26:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[2026-05-26 06:27:51,406] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:28:34 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:32:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 5436 episode 0 object objaplaque_5e188d3eda424161a355de45abcdf4e4_1_0_6 completed with success=False +[05/26 06:33:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5436: 1 episodes +[05/26 06:33:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:33:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:33:03 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5436 +[05/26 06:33:03 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5436 in 2.32s (batch: 2.23s, save: 0.09s) +[05/26 06:33:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5436 +[05/26 06:33:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5436: 0/1 successful episodes +[05/26 06:33:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5481 (index 39/42) +[05/26 06:33:03 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5481 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 06:33:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/63 [00:00 does not support tracking retries. +[05/26 06:33:16 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_4 in scene +[05/26 06:33:16 Worker 0 WARNING object_manager.py:1238] Could not find object objabarcodescanner_20b0d715334944feacba1342856c03a0_1_0_6 in scene +[2026-05-26 06:34:25,372] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:34:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:39:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 5481 episode 0 object objaflask_c0b5678842064353972d518a67f1ff13_1_0_2 completed with success=False +[05/26 06:39:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5481: 1 episodes +[05/26 06:39:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:39:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:39:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5481 +[05/26 06:39:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5481 in 3.04s (batch: 2.94s, save: 0.09s) +[05/26 06:39:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5481 +[05/26 06:39:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5481: 0/1 successful episodes +[05/26 06:39:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5509 (index 40/42) +[05/26 06:39:19 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5509 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 06:39:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/9 [00:00 does not support tracking retries. +[2026-05-26 06:41:32,242] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:42:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:45:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 5509 episode 0 object objahinge_4587c40e36704e7a96ffebad95028160_1_0_2 completed with success=False +[05/26 06:45:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5509: 1 episodes +[05/26 06:45:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:45:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:45:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5509 +[05/26 06:45:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5509 in 2.91s (batch: 2.80s, save: 0.11s) +[05/26 06:45:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5509 +[05/26 06:45:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5509: 0/1 successful episodes +[05/26 06:45:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5549 (index 41/42) +[05/26 06:45:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5549 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_04 +[05/26 06:45:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[05/26 06:45:33 Worker 0 WARNING object_manager.py:1238] Could not find object objaminiaturetower_0780a7e5369442c3967681084a046588_1_0_7 in scene +[05/26 06:45:33 Worker 0 WARNING object_manager.py:1238] Could not find object objaband_eca69b5af4c44fb0bf968b343efad030_1_0_7 in scene +[05/26 06:45:33 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_8c6e5265f19b49709119c2628c2bdf3f_1_0_7 in scene +[2026-05-26 06:46:38,755] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:49:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 5549 episode 0 object objahumanhandmodel_8fb51276bf0e42fca8a554c2e2ea687e_1_0_9 completed with success=False +[05/26 06:49:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5549: 1 episodes +[05/26 06:49:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:49:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:49:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010443/house_5549 +[05/26 06:49:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5549 in 2.82s (batch: 2.72s, save: 0.11s) +[05/26 06:49:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5549 +[05/26 06:49:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5549: 0/1 successful episodes +[05/26 06:49:36 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses +[05/26 06:49:36 INFO pipeline.py:1496] Completed 42 houses, skipped 0 houses +[05/26 06:49:36 INFO pipeline.py:1499] Success count: 3, Total count: 47 +[05/26 06:49:36 INFO pipeline.py:1500] Success rate: 6.38% +Combined 47 episodes from 42 files → /tmp/tmp56sfkbfw.h5 + +Saved → /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/results.csv at-end: 6.38% | oracle: 6.38% of 47 episodes +[2026-05-26 06:49:41,813] INFO MolmoSpaces simulator eval finished: success=3/47 rate=0.0638 output=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval +[2026-05-26 06:49:41,814] INFO Benchmark CSV: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval/results.csv + +Submission artifacts ready: + CSV : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/submission/results.csv + Bundle zip : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/submission_bundle.zip + Summary : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/submission/summary.json + Full eval output : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/eval + Repro command : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_04/run_command.sh diff --git a/pnp_v2/pnp_v2/submission/shard_05.launcher.log b/pnp_v2/pnp_v2/submission/shard_05.launcher.log new file mode 100644 index 0000000000000000000000000000000000000000..97524eda932a8841208fb33c210b393e5cced413 --- /dev/null +++ b/pnp_v2/pnp_v2/submission/shard_05.launcher.log @@ -0,0 +1,1507 @@ +================================================================================ +Official MolmoSpaces Submission Run +================================================================================ +Checkpoint : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt +Benchmark dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +Output root : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05 +Eval output dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval +Submission dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/submission +Conda env : molmospace +Policy name : latest +Policy device : cuda:0 +Text embedding device : cpu +Prompt cache dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan +Workers : 1 +Task horizon steps : 450 +Action chunk size : 8 +Obs camera : droid_shoulder_light_randomization +Obs wrist camera : wrist_camera_zed_mini +Camera names : droid_shoulder_light_randomization wrist_camera_zed_mini +Preview camera names : droid_shoulder_light_randomization +End on success : 1 +Visualization : 0 +Save raw videos : 0 +Save video sensors : __none__ +Success condition (CSV) : both + +Official runner : molmo_spaces.evaluation.run_evaluation() +CSV exporter : molmospaces/scripts/benchmarks/eval_to_csv.py + +Command +conda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament +================================================================================ +[2026-05-26 01:03:53,389] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath'] +[2026-05-26 01:03:53,538] INFO Selected MuJoCo backend: egl +[2026-05-26 01:03:53,555] INFO Using MolmoSpaces benchmark: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 (source=arg) +[2026-05-26 01:03:56,480] INFO No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +[nltk_data] Downloading package wordnet to /home/yuanpei/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /home/yuanpei/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +[2026-05-26 01:04:09,772] INFO ResourceManager (R2RemoteStorage('https://pub-3555e9bb2d304fab9c6c79819e48aa40.r2.dev')) using: + symlink_dir=/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets + cache_dir=/home/yuanpei/.cache/molmo-spaces-resources + force_install=True +/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py:129: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +[2026-05-26 01:04:37,710] INFO Requested MolmoSpaces simulator cameras: ['droid_shoulder_light_randomization', 'wrist_camera_zed_mini'] +[2026-05-26 01:04:37,718] INFO Using save_video_sensors=['__none__'] +[2026-05-26 01:04:41,189] INFO Resolved MolmoSpaces action semantics from checkpoint: source=pnp_next_to_v2 type=molmo_raw arm_action_key=joint_pos_rel gripper_action_key=joint_pos action_type=joint_pos_rel arm_command_mode=joint_rel_position +[2026-05-26 01:04:41,257] INFO Using explicit task_horizon override: 450 steps +[05/26 01:04:41 INFO pipeline.py:677] WandB logging disabled (environment variables not set) +[2026-05-26 01:04:41,324] INFO JsonEvalRunner initialized: 37 houses, 41 episodes from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 01:04:41 INFO pipeline.py:1279] Starting house-by-house rollout of 37 houses with 2 episodes each (74 total episodes) using 1 worker processes +[05/26 01:04:41 INFO pipeline.py:1286] Evaluation configuration: +[05/26 01:04:41 INFO pipeline.py:1287] {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['droid_shoulder_light_randomization', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 'wan_molmobot_franka', + 'obs_camera_name': 'droid_shoulder_light_randomization', + 'obs_image_key': 'rgb_head', + 'obs_state_key': 'robot_state', + 'obs_wrist_camera_name': 'wrist_camera_zed_mini', + 'obs_wrist_image_key': 'rgb_wrist', + 'policy_cls': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [3886, + 3916, + 3961, + 4005, + 4041, + 4124, + 4155, + 4163, + 4256, + 4322, + 4365, + 4403, + 4441, + 4505, + 4511, + 4556, + 4634, + 4686, + 4723, + 4750, + 4796, + 4836, + 4900, + 4954, + 4965, + 5009, + 5075, + 5153, + 5178, + 5189, + 5262, + 5323, + 5408, + 5442, + 5482, + 5511, + 5555], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} +[2026-05-26 01:04:41,341] INFO Saved experiment configuration to /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441 +[05/26 01:04:41 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler +[05/26 01:04:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/26 01:04:41 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler +[05/26 01:04:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3886 (index 0/37) +[05/26 01:04:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3886 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 01:04:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes + Checking objects/objaverse: 0%| | 0/19 [00:00 does not support tracking retries. +[05/26 01:05:04 Worker 0 WARNING object_manager.py:1238] Could not find object objahandaxe_edf08aca9c6b4b598c267da1596b58d4_1_0_2 in scene +[05/26 01:05:04 Worker 0 WARNING object_manager.py:1238] Could not find object bowl_4d97da0c296398947839b0e020453a0f_1_0_2 in scene +2026-05-26 01:06:06.585 | INFO | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0 +[2026-05-26 01:06:42,047] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k) +[2026-05-26 01:06:44,108] INFO [timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k] Safe alternative available for 'pytorch_model.bin' (as 'model.safetensors'). Loading weights using safetensors. +[2026-05-26 01:08:51,514] INFO Number of parameters in DiT: 1.821428e+07 +[2026-05-26 01:09:04,850] INFO Loaded generic psi-policy checkpoint | target=psi_policy.policy.psi_policy.PsiPolicy | obs_keys=['rgb_head', 'rgb_wrist', 'robot_state', 'text_context'] | action_horizon=16 | action_dim=8 +[2026-05-26 01:09:04,857] INFO Loaded MolmoSpaces policy | checkpoint=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt | target=psi_policy.policy.psi_policy.PsiPolicy | device=cuda:0 | action_chunk_size=8 +[05/26 01:09:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:13:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 3886 episode 0 object objahandaxe_ebb899473a5a41649e6cb25f3b27563b_1_0_2 completed with success=False +[05/26 01:13:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3886: 1 episodes +[05/26 01:13:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:13:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:13:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_3886 +[05/26 01:13:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3886 in 5.83s (batch: 5.58s, save: 0.26s) +[05/26 01:13:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3886 +[05/26 01:13:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3886: 0/1 successful episodes +[05/26 01:13:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3916 (index 1/37) +[05/26 01:13:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3916 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 01:13:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/7 [00:00 does not support tracking retries. +[05/26 01:16:54 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:24:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 3916 episode 0 object objatoyjet_cd2a4b5fdf9b4b5b83de34c24cec1f56_1_0_2 completed with success=False +[05/26 01:24:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3916: 1 episodes +[05/26 01:24:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:24:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:24:28 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_3916 +[05/26 01:24:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3916 in 2.21s (batch: 2.12s, save: 0.09s) +[05/26 01:24:28 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3916 +[05/26 01:24:28 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3916: 0/1 successful episodes +[05/26 01:24:28 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3961 (index 2/37) +[05/26 01:24:28 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3961 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 01:24:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +[05/26 01:26:33 Worker 0 WARNING object_manager.py:1238] Could not find object objafantasyplant_c8251feed92f41f197376ab4fd543e27_1_0_6 in scene +[05/26 01:26:33 Worker 0 WARNING object_manager.py:1238] Could not find object objamannequinhand_9507be033ab14d248bc3479e16927993_1_0_6 in scene +[05/26 01:26:33 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_6 in scene +[05/26 01:26:33 Worker 0 WARNING object_manager.py:1238] Could not find object apple_ff93afa9f54bdc5d2bd30356940afcac_1_0_6 in scene +[05/26 01:26:33 Worker 0 WARNING object_manager.py:1238] Could not find object objastoneslab_31b90e243892445380948dc39af237cf_1_0_7 in scene +[2026-05-26 01:27:28,223] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/huggingface_hub/file_download.py:945: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`. + warnings.warn( +[05/26 01:30:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 3961 episode 0 object objacalculatorradio_d17ba864b7a94eacaa34ee919210ba8d_1_0_6 completed with success=False +[05/26 01:30:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3961: 1 episodes +[05/26 01:30:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:30:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:30:06 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_3961 +[05/26 01:30:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3961 in 2.13s (batch: 2.03s, save: 0.10s) +[05/26 01:30:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3961 +[05/26 01:30:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3961: 0/1 successful episodes +[05/26 01:30:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4005 (index 3/37) +[05/26 01:30:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4005 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 01:30:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/39 [00:00 does not support tracking retries. +[2026-05-26 01:35:11,932] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 01:40:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 4005 episode 0 object objadslrcamera_74868e16ced243c088207e5d7da8c750_1_0_9 completed with success=False +[05/26 01:40:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4005: 1 episodes +[05/26 01:40:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:40:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:40:08 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4005 +[05/26 01:40:08 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4005 in 3.42s (batch: 3.33s, save: 0.09s) +[05/26 01:40:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4005 +[05/26 01:40:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4005: 0/1 successful episodes +[05/26 01:40:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4041 (index 4/37) +[05/26 01:40:09 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4041 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 01:40:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/17 [00:00 does not support tracking retries. +[05/26 01:41:23 Worker 0 WARNING object_manager.py:1238] Could not find object apple_523cec3bd66eec1b41ffd2506874d275_1_0_2 in scene +[2026-05-26 01:42:53,247] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 01:43:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:45:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 4041 episode 0 object knife_0bc93f198121d33ac4030a34bfc944a4_1_0_2 completed with success=False +[05/26 01:45:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4041: 1 episodes +[05/26 01:45:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:45:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:45:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4041 +[05/26 01:45:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4041 in 2.25s (batch: 2.16s, save: 0.09s) +[05/26 01:45:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4041 +[05/26 01:45:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4041: 0/1 successful episodes +[05/26 01:45:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4124 (index 5/37) +[05/26 01:45:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4124 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 01:45:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/54 [00:00 does not support tracking retries. +[2026-05-26 01:54:21,971] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 01:57:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 4124 episode 0 object objapackaging_33c69733e61e4cc1953c79a1806b89ab_1_0_7 completed with success=False +[05/26 01:57:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4124: 1 episodes +[05/26 01:57:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:57:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:57:29 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4124 +[05/26 01:57:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4124 in 3.74s (batch: 3.63s, save: 0.12s) +[05/26 01:57:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4124 +[05/26 01:57:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4124: 0/1 successful episodes +[05/26 01:57:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4155 (index 6/37) +[05/26 01:57:30 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4155 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 01:57:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +[05/26 01:57:51 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativelighthouse_efc08602dbff41d28ab59d29b36fdb05_1_0_3 in scene +[05/26 01:57:51 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativekey_b891ef9e4e564492b6fe0db01ebeae72_1_0_3 in scene +[05/26 01:57:51 Worker 0 WARNING object_manager.py:1238] Could not find object box_e01bbd7deecc2b767c1f2ee9de0d6982_1_0_4 in scene +[2026-05-26 01:59:44,113] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:00:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:07:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 4155 episode 0 object objagoblet_2e5243eb355c4b0c90aed7281e93d5a6_1_0_2 completed with success=False +[05/26 02:07:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +[05/26 02:07:50 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativelighthouse_efc08602dbff41d28ab59d29b36fdb05_1_0_3 in scene +[05/26 02:07:50 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativekey_b891ef9e4e564492b6fe0db01ebeae72_1_0_3 in scene +[05/26 02:07:50 Worker 0 WARNING object_manager.py:1238] Could not find object box_e01bbd7deecc2b767c1f2ee9de0d6982_1_0_4 in scene +[2026-05-26 02:09:57,708] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:11:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:15:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 4155 episode 1 object objanightvisiongoggles_11705eaaae174eababc45a53203f59ce_1_0_6 completed with success=False +[05/26 02:15:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4155: 2 episodes +[05/26 02:15:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:15:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:15:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:15:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:15:45 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4155 +[05/26 02:15:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4155 in 6.39s (batch: 6.14s, save: 0.25s) +[05/26 02:15:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4155 +[05/26 02:15:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4155: 0/2 successful episodes +[05/26 02:15:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4163 (index 7/37) +[05/26 02:15:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4163 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 02:15:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +[2026-05-26 02:17:24,665] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:22:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 4163 episode 0 object objamoviecamera_64bd72851ef349ef9cd24403df1789ad_1_0_6 completed with success=False +[05/26 02:22:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4163: 1 episodes +[05/26 02:22:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:22:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:22:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4163 +[05/26 02:22:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4163 in 3.47s (batch: 3.32s, save: 0.15s) +[05/26 02:22:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4163 +[05/26 02:22:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4163: 0/1 successful episodes +[05/26 02:22:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4256 (index 8/37) +[05/26 02:22:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4256 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 02:22:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[2026-05-26 02:24:50,967] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:26:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:31:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 4256 episode 0 object objadigitalcamera_8b7daba1ebb641448a316946a6dc1837_1_0_4 completed with success=False +[05/26 02:31:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4256: 1 episodes +[05/26 02:31:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:31:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:31:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4256 +[05/26 02:31:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4256 in 2.73s (batch: 2.62s, save: 0.11s) +[05/26 02:31:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4256 +[05/26 02:31:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4256: 0/1 successful episodes +[05/26 02:31:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4322 (index 9/37) +[05/26 02:31:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4322 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 02:31:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +[2026-05-26 02:33:44,443] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:34:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:38:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 4322 episode 0 object objasecuritykeypad_e3e26581572f467d84958a12d6305aae_1_0_4 completed with success=False +[05/26 02:38:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4322: 1 episodes +[05/26 02:38:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:38:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:38:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4322 +[05/26 02:38:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4322 in 2.97s (batch: 2.77s, save: 0.20s) +[05/26 02:38:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4322 +[05/26 02:38:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4322: 0/1 successful episodes +[05/26 02:38:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4365 (index 10/37) +[05/26 02:38:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4365 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 02:38:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/28 [00:00 does not support tracking retries. +[2026-05-26 02:40:34,076] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:48:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 4365 episode 0 object objasneaker_a1800b2df030447c93a892c85c8af8ef_1_0_5 completed with success=False +[05/26 02:48:56 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4365: 1 episodes +[05/26 02:48:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:49:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:49:00 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4365 +[05/26 02:49:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4365 in 3.80s (batch: 3.66s, save: 0.14s) +[05/26 02:49:01 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4365 +[05/26 02:49:01 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4365: 0/1 successful episodes +[05/26 02:49:01 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4403 (index 11/37) +[05/26 02:49:01 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4403 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 02:49:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 does not support tracking retries. +[05/26 02:49:11 Worker 0 WARNING object_manager.py:1238] Could not find object cellulartelephone_f65c71e22b7e94dd68f01167ec92b467_1_0_4 in scene +[2026-05-26 02:51:01,105] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:52:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:02:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 4403 episode 0 object objadecorativeenvelope_303b287819a84f7496bd92f5d69710c7_1_0_2 completed with success=False +[05/26 03:02:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4403: 1 episodes +[05/26 03:02:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:02:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:02:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4403 +[05/26 03:02:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4403 in 3.20s (batch: 3.09s, save: 0.11s) +[05/26 03:02:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4403 +[05/26 03:02:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4403: 0/1 successful episodes +[05/26 03:02:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4441 (index 12/37) +[05/26 03:02:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4441 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 03:02:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[2026-05-26 03:04:50,860] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:12:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 4441 episode 0 object objaticket_c57b100f3adc47ef8c8432c090ac770f_1_0_9 completed with success=False +[05/26 03:12:17 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4441: 1 episodes +[05/26 03:12:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:12:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:12:20 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4441 +[05/26 03:12:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4441 in 3.20s (batch: 3.03s, save: 0.16s) +[05/26 03:12:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4441 +[05/26 03:12:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4441: 0/1 successful episodes +[05/26 03:12:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4505 (index 13/37) +[05/26 03:12:21 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4505 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 03:12:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/27 [00:00 does not support tracking retries. +[2026-05-26 03:14:29,323] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:18:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 4505 episode 0 object objabird_5a91277584a645ac85029d4f7342b742_1_0_7 completed with success=False +[05/26 03:18:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/27 [00:00 does not support tracking retries. +[2026-05-26 03:21:03,659] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:21:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:23:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 4505 episode 1 object objadecorativeblade_c38337ff48c9480788b04c3afa7464a9_1_0_4 completed with success=False +[05/26 03:23:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4505: 2 episodes +[05/26 03:23:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:23:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:24:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:24:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:24:01 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4505 +[05/26 03:24:01 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4505 in 6.30s (batch: 6.03s, save: 0.27s) +[05/26 03:24:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4505 +[05/26 03:24:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4505: 0/2 successful episodes +[05/26 03:24:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4511 (index 14/37) +[05/26 03:24:02 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4511 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 03:24:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +[05/26 03:24:15 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativekey_ac8042fa5b204af3a12dd8c588c54ef3_1_0_5 in scene +[05/26 03:24:15 Worker 0 WARNING object_manager.py:1238] Could not find object objaconcretesample_51dcd7c7aa21436bbfda21d405868a11_1_0_5 in scene +[2026-05-26 03:25:56,839] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:31:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 4511 episode 0 object objadecorativetext_452e73c35de349d394a7592fdc0200e6_1_0_6 completed with success=False +[05/26 03:31:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4511: 1 episodes +[05/26 03:31:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:31:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:31:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4511 +[05/26 03:31:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4511 in 2.74s (batch: 2.59s, save: 0.16s) +[05/26 03:31:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4511 +[05/26 03:31:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4511: 0/1 successful episodes +[05/26 03:31:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4556 (index 15/37) +[05/26 03:31:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4556 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 03:31:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 does not support tracking retries. +[05/26 03:31:39 Worker 0 WARNING object_manager.py:1238] Could not find object box_cab37dabf893c5e8d3c18a3ad1a8b8eb_1_0_3 in scene +[05/26 03:31:39 Worker 0 WARNING object_manager.py:1238] Could not find object objaphotoalbum_6d34266a9ed14aa69c8d0baccdb9081a_1_0_4 in scene +[05/26 03:31:39 Worker 0 WARNING object_manager.py:1238] Could not find object objamask_0741405f9d9942e292dc1d0eb20fa815_1_0_5 in scene +[05/26 03:31:39 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_8c6e5265f19b49709119c2628c2bdf3f_1_0_5 in scene +[2026-05-26 03:33:56,242] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:35:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:42:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 4556 episode 0 object objaremotecontrol_f14da6318f904052920e78b9bb1a19ef_1_0_3 completed with success=False +[05/26 03:43:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4556: 1 episodes +[05/26 03:43:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:43:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:43:03 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4556 +[05/26 03:43:03 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4556 in 3.80s (batch: 3.61s, save: 0.19s) +[05/26 03:43:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4556 +[05/26 03:43:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4556: 0/1 successful episodes +[05/26 03:43:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4634 (index 16/37) +[05/26 03:43:04 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4634 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 03:43:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/26 [00:00 does not support tracking retries. +[05/26 03:43:14 Worker 0 WARNING object_manager.py:1238] Could not find object vase_d568e4c5c2948c69c05d527517276b06_2_0_7 in scene +[2026-05-26 03:44:27,526] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:48:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 4634 episode 0 object objatoiletpaper_903ed803932340b19104cf5232c5dcc4_1_0_5 completed with success=False +[05/26 03:48:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4634: 1 episodes +[05/26 03:48:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:48:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:48:47 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4634 +[05/26 03:48:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4634 in 3.93s (batch: 3.76s, save: 0.17s) +[05/26 03:48:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4634 +[05/26 03:48:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4634: 0/1 successful episodes +[05/26 03:48:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4686 (index 17/37) +[05/26 03:48:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4686 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 03:48:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/14 [00:00 does not support tracking retries. +[05/26 03:48:53 Worker 0 WARNING object_manager.py:1238] Could not find object objamechanicalcomponent_1bdce5bc26ad44c28d89284da6c3a8cf_1_0_2 in scene +[05/26 03:48:53 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_92169e2640439bd67fb105701482b508_1_0_2 in scene +[2026-05-26 03:51:19,655] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:52:39 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:55:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 4686 episode 0 object objastraightrazor_a595190ce57a41cda01ff84d5c9eeb06_1_0_2 completed with success=False +[05/26 03:56:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4686: 1 episodes +[05/26 03:56:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:56:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:56:08 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4686 +[05/26 03:56:08 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4686 in 3.69s (batch: 3.27s, save: 0.42s) +[05/26 03:56:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4686 +[05/26 03:56:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4686: 0/1 successful episodes +[05/26 03:56:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4723 (index 18/37) +[05/26 03:56:09 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4723 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 03:56:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/44 [00:00 does not support tracking retries. +[2026-05-26 03:58:04,809] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:02:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 4723 episode 0 object objavessel_8bd6e267f265481682e17f696b201103_1_0_8 completed with success=False +[05/26 04:02:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4723: 1 episodes +[05/26 04:02:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:02:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:02:38 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4723 +[05/26 04:02:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4723 in 4.51s (batch: 4.24s, save: 0.27s) +[05/26 04:02:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4723 +[05/26 04:02:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4723: 0/1 successful episodes +[05/26 04:02:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4750 (index 19/37) +[05/26 04:02:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4750 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 04:02:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/14 [00:00 does not support tracking retries. +[2026-05-26 04:05:10,194] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:05:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:08:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 4750 episode 0 object objamidikeyboard_d5391486d5aa4d6aa54777beecd49534_1_0_3 completed with success=False +[05/26 04:08:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4750: 1 episodes +[05/26 04:08:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:08:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:08:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4750 +[05/26 04:08:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4750 in 2.63s (batch: 2.45s, save: 0.18s) +[05/26 04:08:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4750 +[05/26 04:08:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4750: 0/1 successful episodes +[05/26 04:08:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4796 (index 20/37) +[05/26 04:08:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4796 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 04:08:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[2026-05-26 04:10:46,996] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:16:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 4796 episode 0 object objabeveragecarton_55d0a4c01b9e4a2cab8112162ea61cfb_1_0_9 completed with success=False +[05/26 04:16:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4796: 1 episodes +[05/26 04:16:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:16:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:16:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4796 +[05/26 04:16:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4796 in 4.11s (batch: 3.86s, save: 0.24s) +[05/26 04:16:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4796 +[05/26 04:16:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4796: 0/1 successful episodes +[05/26 04:16:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4836 (index 21/37) +[05/26 04:16:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4836 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 04:16:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +[05/26 04:16:46 Worker 0 WARNING object_manager.py:1238] Could not find object objahinge_4587c40e36704e7a96ffebad95028160_1_0_8 in scene +[05/26 04:16:46 Worker 0 WARNING object_manager.py:1238] Could not find object tomato_b4fe73bc978b2372694676fd9d6ef462_2_0_8 in scene +[2026-05-26 04:18:54,558] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:20:23 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:24:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 4836 episode 0 object objamagnet_d2d922add236472ea43a39de0d739755_1_0_9 completed with success=False +[05/26 04:24:06 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4836: 1 episodes +[05/26 04:24:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:24:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:24:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4836 +[05/26 04:24:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4836 in 3.11s (batch: 3.01s, save: 0.10s) +[05/26 04:24:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4836 +[05/26 04:24:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4836: 0/1 successful episodes +[05/26 04:24:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4900 (index 22/37) +[05/26 04:24:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4900 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 04:24:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +[2026-05-26 04:25:53,703] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:33:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 4900 episode 0 object objaring_c20681970f3f4e449aeec50291be17b1_1_0_2 completed with success=False +[05/26 04:33:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4900: 1 episodes +[05/26 04:33:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:33:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:33:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4900 +[05/26 04:33:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4900 in 2.80s (batch: 2.71s, save: 0.10s) +[05/26 04:33:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4900 +[05/26 04:33:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4900: 0/1 successful episodes +[05/26 04:33:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4954 (index 23/37) +[05/26 04:33:46 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4954 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 04:33:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/26 04:33:54 Worker 0 WARNING object_manager.py:1238] Could not find object lettuce_78266f6bc320cc73d50a37e54430a582_1_0_2 in scene +[2026-05-26 04:35:22,018] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:38:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 4954 episode 0 object objadoorlock_3d56a40e1bae492b89072f71651d2d63_1_0_3 completed with success=False +[05/26 04:38:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/26 04:38:21 Worker 0 WARNING object_manager.py:1238] Could not find object lettuce_78266f6bc320cc73d50a37e54430a582_1_0_2 in scene +[2026-05-26 04:39:25,593] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:39:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:42:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 4954 episode 1 object objaelectronicdisplay_39fdfa7c14a640b58a5ff5e47a1af37c_1_0_7 completed with success=False +[05/26 04:42:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4954: 2 episodes +[05/26 04:42:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:42:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:43:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:43:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:43:00 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4954 +[05/26 04:43:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4954 in 7.76s (batch: 7.30s, save: 0.46s) +[05/26 04:43:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4954 +[05/26 04:43:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4954: 0/2 successful episodes +[05/26 04:43:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4965 (index 24/37) +[05/26 04:43:00 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4965 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 04:43:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/13 [00:00 does not support tracking retries. +[2026-05-26 04:45:04,003] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:45:47 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:48:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 4965 episode 0 object cup_56edd85aeab4ab58cc2b44e71d5e86bf_1_0_2 completed with success=False +[05/26 04:48:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4965: 1 episodes +[05/26 04:48:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:48:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:48:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_4965 +[05/26 04:48:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4965 in 3.13s (batch: 2.97s, save: 0.16s) +[05/26 04:48:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4965 +[05/26 04:48:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4965: 0/1 successful episodes +[05/26 04:48:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5009 (index 25/37) +[05/26 04:48:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5009 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 04:48:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/12 [00:00 does not support tracking retries. +[05/26 04:48:19 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeheadpiece_f467a02f004e4135aaa59de93fe2d23c_1_0_3 in scene +[05/26 04:48:19 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_c60254aae031ecd4e316a5add61459a4_1_0_3 in scene +[2026-05-26 04:50:03,938] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:54:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 5009 episode 0 object bowl_78149002af9123140d89c62daea42a75_1_0_2 completed with success=False +[05/26 04:54:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5009: 1 episodes +[05/26 04:54:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:54:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:54:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5009 +[05/26 04:54:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5009 in 3.15s (batch: 3.06s, save: 0.09s) +[05/26 04:54:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5009 +[05/26 04:54:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5009: 0/1 successful episodes +[05/26 04:54:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5075 (index 26/37) +[05/26 04:54:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5075 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 04:54:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +[05/26 04:54:58 Worker 0 WARNING object_manager.py:1238] Could not find object objatapedispenser_44f566f4b8a34fd7b904dd55359017ed_1_0_7 in scene +[2026-05-26 04:56:17,260] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:56:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:44:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 5075 episode 0 object objalever_5d821ac7148240c092c4face44c1d096_1_0_6 completed with success=False +[05/26 05:44:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5075: 1 episodes +[05/26 05:44:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:44:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:44:43 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5075 +[05/26 05:44:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5075 in 3.00s (batch: 2.82s, save: 0.18s) +[05/26 05:44:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5075 +[05/26 05:44:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5075: 0/1 successful episodes +[05/26 05:44:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5153 (index 27/37) +[05/26 05:44:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5153 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 05:44:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[2026-05-26 05:47:14,016] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:48:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:51:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 5153 episode 0 object objadecorativemolding_4702dc29dd224b26a66e95b408e5ce85_1_0_7 completed with success=False +[05/26 05:52:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5153: 1 episodes +[05/26 05:52:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:52:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:52:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5153 +[05/26 05:52:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5153 in 3.05s (batch: 2.92s, save: 0.13s) +[05/26 05:52:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5153 +[05/26 05:52:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5153: 0/1 successful episodes +[05/26 05:52:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5178 (index 28/37) +[05/26 05:52:04 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 5178 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 05:52:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[2026-05-26 05:54:22,817] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:55:48 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:58:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 5178 episode 0 object objabeetle_a6f2a6fe7a3c4d19831f1bd79d664dcc_1_0_8 completed with success=False +[05/26 05:59:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[2026-05-26 06:00:57,956] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:01:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:03:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 5178 episode 1 object objamosaicfragment_780cc0fe43954935b548b72e5c9e129d_1_0_5 completed with success=False +[05/26 06:04:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5178: 2 episodes +[05/26 06:04:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:04:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:04:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:04:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:04:06 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5178 +[05/26 06:04:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5178 in 6.23s (batch: 5.91s, save: 0.32s) +[05/26 06:04:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5178 +[05/26 06:04:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5178: 0/2 successful episodes +[05/26 06:04:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5189 (index 29/37) +[05/26 06:04:07 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5189 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 06:04:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +[2026-05-26 06:06:24,783] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:07:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:14:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 5189 episode 0 object objasignage_2bf2a240a54742d194cd7e33e7c4c747_1_0_2 completed with success=False +[05/26 06:14:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5189: 1 episodes +[05/26 06:14:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:15:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:15:03 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5189 +[05/26 06:15:03 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5189 in 3.34s (batch: 3.15s, save: 0.19s) +[05/26 06:15:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5189 +[05/26 06:15:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5189: 0/1 successful episodes +[05/26 06:15:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5262 (index 30/37) +[05/26 06:15:03 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5262 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 06:15:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/44 [00:00 does not support tracking retries. +[05/26 06:15:23 Worker 0 WARNING object_manager.py:1238] Could not find object objacoil_c4fcd63753e740aa9efac5edfe7a7506_1_0_7 in scene +[05/26 06:15:23 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaperroll_d72efd4c78e146d88aeff93a721c5330_1_0_7 in scene +[2026-05-26 06:16:51,521] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:18:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:23:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 5262 episode 0 object objadecorativering_73d4f9433c2649d0bb702f46c01c3d9a_1_0_6 completed with success=False +[05/26 06:23:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5262: 1 episodes +[05/26 06:23:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:23:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:23:43 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5262 +[05/26 06:23:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5262 in 3.25s (batch: 3.11s, save: 0.14s) +[05/26 06:23:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5262 +[05/26 06:23:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5262: 0/1 successful episodes +[05/26 06:23:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5323 (index 31/37) +[05/26 06:23:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5323 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 06:23:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/42 [00:00 does not support tracking retries. +[2026-05-26 06:25:29,804] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:25:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:29:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 5323 episode 0 object objasuppressor_03d3fab9cfb94bdfa9fcf0eff0eb1b75_1_0_8 completed with success=False +[05/26 06:29:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5323: 1 episodes +[05/26 06:29:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:29:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:29:19 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5323 +[05/26 06:29:19 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5323 in 3.17s (batch: 3.03s, save: 0.14s) +[05/26 06:29:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5323 +[05/26 06:29:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5323: 0/1 successful episodes +[05/26 06:29:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5408 (index 32/37) +[05/26 06:29:19 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5408 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 06:29:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +[05/26 06:29:31 Worker 0 WARNING object_manager.py:1238] Could not find object objastonedish_7bf14a57ee5345689c3efd4bd1616466_1_0_6 in scene +[05/26 06:29:31 Worker 0 WARNING object_manager.py:1238] Could not find object objanameplate_bc384e6f26f84b04997161e3acde4bc3_1_0_6 in scene +[2026-05-26 06:31:22,290] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:34:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 5408 episode 0 object objadecorativesign_748089ad5eb441ccb3e9f8561567b021_1_0_6 completed with success=False +[05/26 06:34:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5408: 1 episodes +[05/26 06:34:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:34:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:34:45 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5408 +[05/26 06:34:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5408 in 2.78s (batch: 2.64s, save: 0.13s) +[05/26 06:34:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5408 +[05/26 06:34:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5408: 0/1 successful episodes +[05/26 06:34:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5442 (index 33/37) +[05/26 06:34:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5442 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 06:34:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/59 [00:00 does not support tracking retries. +[05/26 06:34:59 Worker 0 WARNING object_manager.py:1238] Could not find object vase_6cb319ff57e79d3745bd6ac29c8adb3d_1_0_8 in scene +[2026-05-26 06:36:29,672] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:43:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 5442 episode 0 object objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_9 completed with success=False +[05/26 06:43:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5442: 1 episodes +[05/26 06:43:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:43:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:43:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5442 +[05/26 06:43:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5442 in 2.92s (batch: 2.83s, save: 0.09s) +[05/26 06:43:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5442 +[05/26 06:43:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5442: 0/1 successful episodes +[05/26 06:43:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5482 (index 34/37) +[05/26 06:43:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5482 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 06:43:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +[2026-05-26 06:45:00,408] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:45:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:47:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 5482 episode 0 object objastonetool_f5a48834fc66497ebc416ef94ec2eeeb_1_0_2 completed with success=False +[05/26 06:47:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5482: 1 episodes +[05/26 06:47:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:47:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:47:45 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5482 +[05/26 06:47:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5482 in 2.15s (batch: 2.06s, save: 0.09s) +[05/26 06:47:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5482 +[05/26 06:47:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5482: 0/1 successful episodes +[05/26 06:47:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5511 (index 35/37) +[05/26 06:47:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5511 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 06:47:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/45 [00:00 does not support tracking retries. +[2026-05-26 06:48:55,887] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:53:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 5511 episode 0 object objapencilsharpener_90238a6e97484f7ca846101ed7f43eac_1_0_9 completed with success=False +[05/26 06:53:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5511: 1 episodes +[05/26 06:53:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:53:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:53:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5511 +[05/26 06:53:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5511 in 2.19s (batch: 2.10s, save: 0.09s) +[05/26 06:53:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5511 +[05/26 06:53:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5511: 0/1 successful episodes +[05/26 06:53:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5555 (index 36/37) +[05/26 06:53:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5555 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_05 +[05/26 06:53:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/12 [00:00 does not support tracking retries. +[05/26 06:53:19 Worker 0 WARNING object_manager.py:1238] Could not find object objatoyhouse_6404a5eb445d48e1a96d98e013904cf9_1_0_3 in scene +[05/26 06:53:19 Worker 0 WARNING object_manager.py:1238] Could not find object objalighter_a2db21b57424449f9a2d1aa08e5b0c90_1_0_3 in scene +[2026-05-26 06:54:18,517] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:54:34 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:57:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 5555 episode 0 object objadecorativeflower_99e08ec1b42241c080912996eebbffe6_1_0_2 completed with success=False +[05/26 06:57:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5555: 1 episodes +[05/26 06:57:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:57:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:57:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010441/house_5555 +[05/26 06:57:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5555 in 2.50s (batch: 2.37s, save: 0.13s) +[05/26 06:57:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5555 +[05/26 06:57:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5555: 0/1 successful episodes +[05/26 06:57:32 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses +[05/26 06:57:32 INFO pipeline.py:1496] Completed 37 houses, skipped 0 houses +[05/26 06:57:32 INFO pipeline.py:1499] Success count: 0, Total count: 41 +[05/26 06:57:32 INFO pipeline.py:1500] Success rate: 0.00% +Combined 41 episodes from 37 files → /tmp/tmpgn34_c2g.h5 + +Saved → /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/results.csv at-end: 0.0% | oracle: 0.0% of 41 episodes +[2026-05-26 06:57:38,653] INFO MolmoSpaces simulator eval finished: success=0/41 rate=0.0000 output=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval +[2026-05-26 06:57:38,653] INFO Benchmark CSV: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval/results.csv + +Submission artifacts ready: + CSV : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/submission/results.csv + Bundle zip : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/submission_bundle.zip + Summary : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/submission/summary.json + Full eval output : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/eval + Repro command : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_05/run_command.sh diff --git a/pnp_v2/pnp_v2/submission/shard_06.launcher.log b/pnp_v2/pnp_v2/submission/shard_06.launcher.log new file mode 100644 index 0000000000000000000000000000000000000000..e69510232fb0ef3466ecf83344863a04ab94bb9b --- /dev/null +++ b/pnp_v2/pnp_v2/submission/shard_06.launcher.log @@ -0,0 +1,1685 @@ +================================================================================ +Official MolmoSpaces Submission Run +================================================================================ +Checkpoint : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt +Benchmark dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +Output root : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06 +Eval output dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval +Submission dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/submission +Conda env : molmospace +Policy name : latest +Policy device : cuda:0 +Text embedding device : cpu +Prompt cache dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan +Workers : 1 +Task horizon steps : 450 +Action chunk size : 8 +Obs camera : droid_shoulder_light_randomization +Obs wrist camera : wrist_camera_zed_mini +Camera names : droid_shoulder_light_randomization wrist_camera_zed_mini +Preview camera names : droid_shoulder_light_randomization +End on success : 1 +Visualization : 0 +Save raw videos : 0 +Save video sensors : __none__ +Success condition (CSV) : both + +Official runner : molmo_spaces.evaluation.run_evaluation() +CSV exporter : molmospaces/scripts/benchmarks/eval_to_csv.py + +Command +conda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament +================================================================================ +[2026-05-26 01:03:53,419] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath'] +[2026-05-26 01:03:53,539] INFO Selected MuJoCo backend: egl +[2026-05-26 01:03:53,559] INFO Using MolmoSpaces benchmark: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 (source=arg) +[2026-05-26 01:03:56,406] INFO No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +[nltk_data] Downloading package wordnet to /home/yuanpei/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /home/yuanpei/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +[2026-05-26 01:04:12,109] INFO ResourceManager (R2RemoteStorage('https://pub-3555e9bb2d304fab9c6c79819e48aa40.r2.dev')) using: + symlink_dir=/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets + cache_dir=/home/yuanpei/.cache/molmo-spaces-resources + force_install=True +/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py:129: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +[2026-05-26 01:04:43,340] INFO Requested MolmoSpaces simulator cameras: ['droid_shoulder_light_randomization', 'wrist_camera_zed_mini'] +[2026-05-26 01:04:43,343] INFO Using save_video_sensors=['__none__'] +[2026-05-26 01:04:46,645] INFO Resolved MolmoSpaces action semantics from checkpoint: source=pnp_next_to_v2 type=molmo_raw arm_action_key=joint_pos_rel gripper_action_key=joint_pos action_type=joint_pos_rel arm_command_mode=joint_rel_position +[2026-05-26 01:04:46,686] INFO Using explicit task_horizon override: 450 steps +[05/26 01:04:46 INFO pipeline.py:677] WandB logging disabled (environment variables not set) +[2026-05-26 01:04:46,754] INFO JsonEvalRunner initialized: 42 houses, 47 episodes from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 01:04:46 INFO pipeline.py:1279] Starting house-by-house rollout of 42 houses with 2 episodes each (84 total episodes) using 1 worker processes +[05/26 01:04:46 INFO pipeline.py:1286] Evaluation configuration: +[05/26 01:04:46 INFO pipeline.py:1287] {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['droid_shoulder_light_randomization', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 'wan_molmobot_franka', + 'obs_camera_name': 'droid_shoulder_light_randomization', + 'obs_image_key': 'rgb_head', + 'obs_state_key': 'robot_state', + 'obs_wrist_camera_name': 'wrist_camera_zed_mini', + 'obs_wrist_image_key': 'rgb_wrist', + 'policy_cls': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [3665, + 3712, + 3723, + 3772, + 3839, + 3890, + 3939, + 3969, + 4008, + 4043, + 4130, + 4169, + 4174, + 4258, + 4329, + 4370, + 4404, + 4455, + 4512, + 4561, + 4572, + 4636, + 4691, + 4726, + 4751, + 4798, + 4847, + 4904, + 4976, + 4978, + 5013, + 5096, + 5160, + 5182, + 5197, + 5266, + 5327, + 5416, + 5453, + 5483, + 5521, + 5559], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} +[2026-05-26 01:04:46,780] INFO Saved experiment configuration to /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446 +[05/26 01:04:46 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler +[05/26 01:04:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/26 01:04:46 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler +[05/26 01:04:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3665 (index 0/42) +[05/26 01:04:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3665 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 01:04:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes + Checking objects/objaverse: 0%| | 0/8 [00:00 does not support tracking retries. +2026-05-26 01:06:02.889 | INFO | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0 +[2026-05-26 01:06:36,223] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k) +[2026-05-26 01:06:36,628] INFO [timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k] Safe alternative available for 'pytorch_model.bin' (as 'model.safetensors'). Loading weights using safetensors. +[2026-05-26 01:08:45,496] INFO Number of parameters in DiT: 1.821428e+07 +[2026-05-26 01:09:00,886] INFO Loaded generic psi-policy checkpoint | target=psi_policy.policy.psi_policy.PsiPolicy | obs_keys=['rgb_head', 'rgb_wrist', 'robot_state', 'text_context'] | action_horizon=16 | action_dim=8 +[2026-05-26 01:09:00,890] INFO Loaded MolmoSpaces policy | checkpoint=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt | target=psi_policy.policy.psi_policy.PsiPolicy | device=cuda:0 | action_chunk_size=8 +[05/26 01:09:03 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:13:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 3665 episode 0 object objateacup_027f9a512d2e49a582290e8a47ae68ed_1_0_2 completed with success=False +[05/26 01:13:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3665: 1 episodes +[05/26 01:13:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:13:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:13:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_3665 +[05/26 01:13:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3665 in 4.79s (batch: 4.61s, save: 0.18s) +[05/26 01:13:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3665 +[05/26 01:13:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3665: 0/1 successful episodes +[05/26 01:13:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3712 (index 1/42) +[05/26 01:13:31 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 3712 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 01:13:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/26 [00:00 does not support tracking retries. +[05/26 01:16:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:23:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 3712 episode 0 object objadish_acc681f1ed5a4ddcaafd7fa56d83ba6d_1_0_6 completed with success=False +[05/26 01:23:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/26 [00:00 does not support tracking retries. +[2026-05-26 01:25:04,916] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/huggingface_hub/file_download.py:945: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`. + warnings.warn( +[05/26 01:25:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:27:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 3712 episode 1 object objapuzzlepiece_e7fe38d96d064df9bafb114760ffe2ad_1_0_6 completed with success=False +[05/26 01:27:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3712: 2 episodes +[05/26 01:27:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:28:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:28:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:28:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:28:02 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_3712 +[05/26 01:28:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3712 in 5.26s (batch: 5.08s, save: 0.18s) +[05/26 01:28:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3712 +[05/26 01:28:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3712: 0/2 successful episodes +[05/26 01:28:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3723 (index 2/42) +[05/26 01:28:03 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3723 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 01:28:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +[05/26 01:33:25 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativebottle_7e790577849a414da6e718af2dc40bc1_1_0_6 in scene +[05/26 01:33:25 Worker 0 WARNING object_manager.py:1238] Could not find object objalicenseplate_de125bed7cf34a688c3b350458528c29_1_0_6 in scene +[2026-05-26 01:35:07,728] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 01:36:16 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:40:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 3723 episode 0 object objastraightrazor_a595190ce57a41cda01ff84d5c9eeb06_1_0_7 completed with success=False +[05/26 01:41:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3723: 1 episodes +[05/26 01:41:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:41:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:41:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_3723 +[05/26 01:41:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3723 in 3.23s (batch: 3.13s, save: 0.10s) +[05/26 01:41:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3723 +[05/26 01:41:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3723: 0/1 successful episodes +[05/26 01:41:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3772 (index 3/42) +[05/26 01:41:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3772 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 01:41:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/39 [00:00 does not support tracking retries. +[2026-05-26 01:42:56,678] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 01:46:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 3772 episode 0 object objahandgrenade_beaf33bc1c6d452697a3773a171a1103_1_0_2 completed with success=False +[05/26 01:46:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3772: 1 episodes +[05/26 01:46:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:46:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:46:15 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_3772 +[05/26 01:46:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3772 in 2.47s (batch: 2.38s, save: 0.09s) +[05/26 01:46:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3772 +[05/26 01:46:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3772: 0/1 successful episodes +[05/26 01:46:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3839 (index 4/42) +[05/26 01:46:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3839 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 01:46:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +[2026-05-26 01:56:37,719] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 01:57:42 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:04:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 3839 episode 0 object objamountingbracket_89c52ab7b8f149369c832713bad2203c_1_0_6 completed with success=False +[05/26 02:04:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3839: 1 episodes +[05/26 02:04:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:04:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:04:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_3839 +[05/26 02:04:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3839 in 3.65s (batch: 3.41s, save: 0.23s) +[05/26 02:04:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3839 +[05/26 02:04:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3839: 0/1 successful episodes +[05/26 02:04:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3890 (index 5/42) +[05/26 02:04:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3890 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 02:04:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/25 [00:00 does not support tracking retries. +[05/26 02:05:03 Worker 0 WARNING object_manager.py:1238] Could not find object objaankleboot_516145ceb6df4f3b81bd1aaf62f6a857_1_0_6 in scene +[05/26 02:05:03 Worker 0 WARNING object_manager.py:1238] Could not find object plate_f173a2971da306df672f184bdba65217_1_0_6 in scene +[2026-05-26 02:07:01,344] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:07:54 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:13:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 3890 episode 0 object objalever_5d821ac7148240c092c4face44c1d096_1_0_2 completed with success=False +[05/26 02:13:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3890: 1 episodes +[05/26 02:13:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:13:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:13:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_3890 +[05/26 02:13:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3890 in 3.56s (batch: 3.39s, save: 0.17s) +[05/26 02:13:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3890 +[05/26 02:13:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3890: 0/1 successful episodes +[05/26 02:13:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3939 (index 6/42) +[05/26 02:13:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3939 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 02:13:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/53 [00:00 does not support tracking retries. +[2026-05-26 02:15:56,205] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:16:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:19:53 Worker 0 INFO pipeline.py:1114] Worker 0 house 3939 episode 0 object objaclothesiron_33751730969346df8aa289d31228f3fb_1_0_2 completed with success=False +[05/26 02:19:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3939: 1 episodes +[05/26 02:19:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:20:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:20:00 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_3939 +[05/26 02:20:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3939 in 2.92s (batch: 2.71s, save: 0.21s) +[05/26 02:20:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3939 +[05/26 02:20:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3939: 0/1 successful episodes +[05/26 02:20:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3969 (index 7/42) +[05/26 02:20:00 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3969 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 02:20:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/56 [00:00 does not support tracking retries. +[2026-05-26 02:22:16,987] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:22:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:30:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 3969 episode 0 object objariflescope_78fdc6141bcc4bd483f1c4842ab654b3_1_0_7 completed with success=False +[05/26 02:30:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3969: 1 episodes +[05/26 02:30:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:30:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:30:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_3969 +[05/26 02:30:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3969 in 2.80s (batch: 2.69s, save: 0.12s) +[05/26 02:30:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3969 +[05/26 02:30:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3969: 0/1 successful episodes +[05/26 02:30:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4008 (index 8/42) +[05/26 02:30:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4008 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 02:30:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +[2026-05-26 02:32:14,698] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:36:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 4008 episode 0 object objabirdfigurine_2696c895e65a4343871e59d9fbaf121d_1_0_7 completed with success=False +[05/26 02:36:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4008: 1 episodes +[05/26 02:36:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:36:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:36:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4008 +[05/26 02:36:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4008 in 3.23s (batch: 3.07s, save: 0.16s) +[05/26 02:36:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4008 +[05/26 02:36:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4008: 0/1 successful episodes +[05/26 02:36:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4043 (index 9/42) +[05/26 02:36:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4043 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 02:36:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/46 [00:00 does not support tracking retries. +[2026-05-26 02:39:02,493] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:40:12 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:48:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 4043 episode 0 object objaammunition_ac0cb85fdde046fc96e11a80a224fe3f_1_0_2 completed with success=False +[05/26 02:49:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4043: 1 episodes +[05/26 02:49:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:49:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:49:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4043 +[05/26 02:49:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4043 in 3.69s (batch: 3.47s, save: 0.21s) +[05/26 02:49:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4043 +[05/26 02:49:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4043: 0/1 successful episodes +[05/26 02:49:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4130 (index 10/42) +[05/26 02:49:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4130 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 02:49:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[2026-05-26 02:51:07,403] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:01:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 4130 episode 0 object objapendant_b12437d577704653ae875d817cb89804_1_0_6 completed with success=False +[05/26 03:01:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4130: 1 episodes +[05/26 03:01:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:01:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:01:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4130 +[05/26 03:01:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4130 in 4.79s (batch: 4.47s, save: 0.32s) +[05/26 03:01:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4130 +[05/26 03:01:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4130: 0/1 successful episodes +[05/26 03:01:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4169 (index 11/42) +[05/26 03:01:35 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4169 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 03:01:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/39 [00:00 does not support tracking retries. +[05/26 03:01:57 Worker 0 WARNING object_manager.py:1238] Could not find object objadispenser_dae48a392c5a4f3aa00235e664ee7d4d_1_0_5 in scene +[05/26 03:01:57 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_6f646752c976a94a62a6979581d2556d_1_0_5 in scene +[2026-05-26 03:04:07,804] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:05:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:11:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 4169 episode 0 object objatelegraphkey_f63e60ed88ca405790c0c5aef3e03dfc_2_0_9 completed with success=False +[05/26 03:11:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4169: 1 episodes +[05/26 03:11:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:12:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:12:03 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4169 +[05/26 03:12:03 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4169 in 3.91s (batch: 3.68s, save: 0.23s) +[05/26 03:12:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4169 +[05/26 03:12:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4169: 0/1 successful episodes +[05/26 03:12:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4174 (index 12/42) +[05/26 03:12:04 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4174 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 03:12:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +[05/26 03:12:08 Worker 0 WARNING object_manager.py:1238] Could not find object objawarningsign_e65735f7d963464abc7e0c3690578b06_1_0_2 in scene +[05/26 03:12:08 Worker 0 WARNING object_manager.py:1238] Could not find object vase_c8834aef9cc9a4598baadc1d2562b549_1_0_6 in scene +[2026-05-26 03:14:11,046] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:18:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 4174 episode 0 object objacheese_150156b49a984e5d9c0e672894da5a3e_1_0_2 completed with success=False +[05/26 03:18:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +[05/26 03:18:30 Worker 0 WARNING object_manager.py:1238] Could not find object objawarningsign_e65735f7d963464abc7e0c3690578b06_1_0_2 in scene +[05/26 03:18:30 Worker 0 WARNING object_manager.py:1238] Could not find object vase_c8834aef9cc9a4598baadc1d2562b549_1_0_6 in scene +[2026-05-26 03:20:31,456] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:23:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 4174 episode 1 object objarubbermallet_2de2cbb69ad44bc3ae2e01eacce9f174_1_0_2 completed with success=False +[05/26 03:23:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4174: 2 episodes +[05/26 03:23:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:23:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:23:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:23:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:23:45 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4174 +[05/26 03:23:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4174 in 5.09s (batch: 4.90s, save: 0.18s) +[05/26 03:23:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4174 +[05/26 03:23:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4174: 0/2 successful episodes +[05/26 03:23:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4258 (index 13/42) +[05/26 03:23:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4258 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 03:23:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +[2026-05-26 03:25:22,690] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:26:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:30:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 4258 episode 0 object objadecorativeinsect_3d87721214d44cc6986677a844c80499_1_0_4 completed with success=False +[05/26 03:30:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4258: 1 episodes +[05/26 03:30:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:30:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:30:38 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4258 +[05/26 03:30:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4258 in 3.94s (batch: 3.77s, save: 0.17s) +[05/26 03:30:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4258 +[05/26 03:30:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4258: 0/1 successful episodes +[05/26 03:30:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4329 (index 14/42) +[05/26 03:30:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4329 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 03:30:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/26 03:30:52 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_9 in scene +[2026-05-26 03:32:58,254] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:34:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:43:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 4329 episode 0 object objaswissarmyknife_9a1047f51ca5495f9ddfe3c024a1d8cd_1_0_2 completed with success=False +[05/26 03:43:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4329: 1 episodes +[05/26 03:43:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:43:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:43:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4329 +[05/26 03:43:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4329 in 3.32s (batch: 3.11s, save: 0.22s) +[05/26 03:43:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4329 +[05/26 03:43:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4329: 0/1 successful episodes +[05/26 03:43:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4370 (index 15/42) +[05/26 03:43:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4370 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 03:43:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[2026-05-26 03:44:28,491] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:44:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:50:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 4370 episode 0 object objashackle_d956a23797094d87aa85c1a139c15d68_1_0_7 completed with success=False +[05/26 03:50:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4370: 1 episodes +[05/26 03:50:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:50:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:50:24 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4370 +[05/26 03:50:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4370 in 3.68s (batch: 3.50s, save: 0.18s) +[05/26 03:50:25 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4370 +[05/26 03:50:25 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4370: 0/1 successful episodes +[05/26 03:50:25 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4404 (index 16/42) +[05/26 03:50:25 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4404 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 03:50:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[2026-05-26 03:52:58,085] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:53:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:58:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 4404 episode 0 object objachocolatebunny_3fd78d69b770429a8a680caaa65e57e8_1_0_2 completed with success=False +[05/26 03:58:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4404: 1 episodes +[05/26 03:58:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:58:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:58:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4404 +[05/26 03:58:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4404 in 3.32s (batch: 3.16s, save: 0.16s) +[05/26 03:58:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4404 +[05/26 03:58:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4404: 0/1 successful episodes +[05/26 03:58:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4455 (index 17/42) +[05/26 03:58:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4455 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 03:58:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[05/26 03:58:45 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +[05/26 03:58:45 Worker 0 WARNING object_manager.py:1238] Could not find object objaaerosolcan_b6b64dc8ae6049dbba19ae2cef3575bb_1_0_7 in scene +[05/26 03:58:45 Worker 0 WARNING object_manager.py:1238] Could not find object objadispenser_dae48a392c5a4f3aa00235e664ee7d4d_1_0_7 in scene +[05/26 03:58:45 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativewallart_c7c03844ef594964985305267911cc9e_1_0_8 in scene +[05/26 03:58:45 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_834d386e080077accc22e6eae5471528_1_0_8 in scene +[2026-05-26 04:00:47,514] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:06:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 4455 episode 0 object objapettoy_c45af57d9a3c47a58da36db2a5d425dd_1_0_9 completed with success=False +[05/26 04:06:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4455: 1 episodes +[05/26 04:06:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:06:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:06:24 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4455 +[05/26 04:06:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4455 in 2.68s (batch: 2.55s, save: 0.13s) +[05/26 04:06:25 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4455 +[05/26 04:06:25 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4455: 0/1 successful episodes +[05/26 04:06:25 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4512 (index 18/42) +[05/26 04:06:25 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4512 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 04:06:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[2026-05-26 04:07:51,930] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:08:19 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:16:53 Worker 0 INFO pipeline.py:1114] Worker 0 house 4512 episode 0 object objadoorlock_3d56a40e1bae492b89072f71651d2d63_1_0_9 completed with success=False +[05/26 04:16:58 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4512: 1 episodes +[05/26 04:16:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:17:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:17:03 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4512 +[05/26 04:17:03 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4512 in 4.65s (batch: 4.30s, save: 0.35s) +[05/26 04:17:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4512 +[05/26 04:17:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4512: 0/1 successful episodes +[05/26 04:17:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4561 (index 19/42) +[05/26 04:17:04 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4561 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 04:17:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[05/26 04:17:25 Worker 0 WARNING object_manager.py:1238] Could not find object objaportrait_be723a42c56c437ba4247e2ca8c77bab_1_0_2 in scene +[05/26 04:17:25 Worker 0 WARNING object_manager.py:1238] Could not find object plate_d3f03fb737fec5e1ec6a907be81b1810_1_0_2 in scene +[2026-05-26 04:19:39,056] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:24:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 4561 episode 0 object objaexternalharddrive_65f3fd1fc6e440459aaade5c28028f53_1_0_3 completed with success=False +[05/26 04:24:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[05/26 04:24:44 Worker 0 WARNING object_manager.py:1238] Could not find object objaportrait_be723a42c56c437ba4247e2ca8c77bab_1_0_2 in scene +[05/26 04:24:44 Worker 0 WARNING object_manager.py:1238] Could not find object plate_d3f03fb737fec5e1ec6a907be81b1810_1_0_2 in scene +[2026-05-26 04:26:14,482] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:27:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:32:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 4561 episode 1 object objatooth_4ec84bfdbbec4663b9a730ef943e0768_1_0_3 completed with success=False +[05/26 04:32:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4561: 2 episodes +[05/26 04:32:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:32:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:32:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:32:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:32:12 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4561 +[05/26 04:32:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4561 in 6.84s (batch: 6.65s, save: 0.19s) +[05/26 04:32:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4561 +[05/26 04:32:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4561: 0/2 successful episodes +[05/26 04:32:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4572 (index 20/42) +[05/26 04:32:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4572 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 04:32:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +[05/26 04:32:23 Worker 0 WARNING object_manager.py:1238] Could not find object objacollar_5f329a75ab1a4890868ba37061ca3396_1_0_7 in scene +[2026-05-26 04:34:10,979] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:37:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 4572 episode 0 object objadecorativering_34fefad109df4779891b57164c5e2106_1_0_4 completed with success=False +[05/26 04:37:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4572: 1 episodes +[05/26 04:37:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:37:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:37:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4572 +[05/26 04:37:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4572 in 2.47s (batch: 2.38s, save: 0.10s) +[05/26 04:37:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4572 +[05/26 04:37:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4572: 0/1 successful episodes +[05/26 04:37:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4636 (index 21/42) +[05/26 04:37:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4636 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 04:37:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/53 [00:00 does not support tracking retries. +[05/26 04:37:36 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +[2026-05-26 04:38:42,591] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:39:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:41:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 4636 episode 0 object objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_4 completed with success=False +[05/26 04:41:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4636: 1 episodes +[05/26 04:41:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:41:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:41:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4636 +[05/26 04:41:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4636 in 2.67s (batch: 2.53s, save: 0.14s) +[05/26 04:41:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4636 +[05/26 04:41:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4636: 0/1 successful episodes +[05/26 04:41:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4691 (index 22/42) +[05/26 04:41:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4691 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 04:41:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +[2026-05-26 04:43:47,852] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:44:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:48:02 Worker 0 INFO pipeline.py:1114] Worker 0 house 4691 episode 0 object objabeveragecup_398d3a50f3e7446d980275f5b52c99a4_2_0_6 completed with success=False +[05/26 04:48:06 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4691: 1 episodes +[05/26 04:48:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:48:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:48:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4691 +[05/26 04:48:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4691 in 2.93s (batch: 2.80s, save: 0.13s) +[05/26 04:48:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4691 +[05/26 04:48:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4691: 0/1 successful episodes +[05/26 04:48:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4726 (index 23/42) +[05/26 04:48:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4726 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 04:48:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +[2026-05-26 04:50:05,462] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:50:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:54:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 4726 episode 0 object objametalrodassembly_88e1ab84b33e4a98b69c1c51c24d751a_1_0_3 completed with success=False +[05/26 04:54:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4726: 1 episodes +[05/26 04:54:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:54:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:54:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4726 +[05/26 04:54:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4726 in 2.81s (batch: 2.68s, save: 0.13s) +[05/26 04:54:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4726 +[05/26 04:54:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4726: 0/1 successful episodes +[05/26 04:54:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4751 (index 24/42) +[05/26 04:54:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4751 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 04:54:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/18 [00:00 does not support tracking retries. +[05/26 04:54:19 Worker 0 WARNING object_manager.py:1238] Could not find object statue_d0357892bc2a737e4da2f5a294c60c5e_1_0_6 in scene +[05/26 04:54:19 Worker 0 WARNING object_manager.py:1238] Could not find object bread_02590a72dc962788d308c804909b928a_1_0_6 in scene +[2026-05-26 04:55:34,200] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:00:02 Worker 0 INFO pipeline.py:1114] Worker 0 house 4751 episode 0 object objahandhelddevice_ed35515f702047138b8bf5c24ddf4dc8_1_0_7 completed with success=False +[05/26 05:00:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4751: 1 episodes +[05/26 05:00:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:00:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:00:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4751 +[05/26 05:00:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4751 in 3.71s (batch: 3.56s, save: 0.15s) +[05/26 05:00:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4751 +[05/26 05:00:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4751: 0/1 successful episodes +[05/26 05:00:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4798 (index 25/42) +[05/26 05:00:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4798 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 05:00:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +[05/26 05:00:21 Worker 0 WARNING object_manager.py:1238] Could not find object pillow_fb2444b26d283b973886df173510fd4c_1_0_2 in scene +[05/26 05:00:21 Worker 0 WARNING object_manager.py:1238] Could not find object laptop_ae30801e5e2a8cbd9f5009e82af4c8fd_1_0_2 in scene +[05/26 05:00:21 Worker 0 WARNING object_manager.py:1238] Could not find object statue_e2da6cf9030ad270d01ac0fa5001917f_1_0_2 in scene +[2026-05-26 05:02:17,820] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:03:08 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:06:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 4798 episode 0 object objawoodenrod_bdf07f6c648b4d74af80ea7103ac384c_1_0_6 completed with success=False +[05/26 05:06:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4798: 1 episodes +[05/26 05:06:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:06:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:06:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4798 +[05/26 05:06:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4798 in 3.19s (batch: 3.07s, save: 0.13s) +[05/26 05:06:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4798 +[05/26 05:06:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4798: 0/1 successful episodes +[05/26 05:06:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4847 (index 26/42) +[05/26 05:06:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4847 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 05:06:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/53 [00:00 does not support tracking retries. +[2026-05-26 05:09:17,965] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:11:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:15:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 4847 episode 0 object candle_ef48126e155d4ed0804b46d4b3a42ca2_1_0_4 completed with success=False +[05/26 05:15:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4847: 1 episodes +[05/26 05:15:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:15:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:15:59 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4847 +[05/26 05:15:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4847 in 3.60s (batch: 3.33s, save: 0.27s) +[05/26 05:16:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4847 +[05/26 05:16:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4847: 0/1 successful episodes +[05/26 05:16:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4904 (index 27/42) +[05/26 05:16:00 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4904 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 05:16:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/7 [00:00 does not support tracking retries. +[05/26 05:16:03 Worker 0 WARNING object_manager.py:1238] Could not find object objawallet_45e061790f364b1da9ff876382adca02_1_0_2 in scene +[05/26 05:16:03 Worker 0 WARNING object_manager.py:1238] Could not find object apple_e4633a6eeab3bd9cfd60227d76a684e8_1_0_2 in scene +[2026-05-26 05:18:19,659] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:19:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:22:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 4904 episode 0 object objaminiaturetoriigate_4d32377790044e12b31f4363f1bab859_1_0_2 completed with success=False +[05/26 05:22:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4904: 1 episodes +[05/26 05:22:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:22:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:22:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4904 +[05/26 05:22:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4904 in 2.98s (batch: 2.84s, save: 0.13s) +[05/26 05:22:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4904 +[05/26 05:22:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4904: 0/1 successful episodes +[05/26 05:22:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4976 (index 28/42) +[05/26 05:22:55 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4976 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 05:22:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +[05/26 05:23:03 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_6 in scene +[2026-05-26 05:25:12,580] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:26:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:30:53 Worker 0 INFO pipeline.py:1114] Worker 0 house 4976 episode 0 object objametalplate_e75a595288164529bbcbc11cdfb7df15_1_0_2 completed with success=False +[05/26 05:30:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4976: 1 episodes +[05/26 05:30:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:31:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:31:00 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4976 +[05/26 05:31:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4976 in 2.94s (batch: 2.80s, save: 0.14s) +[05/26 05:31:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4976 +[05/26 05:31:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4976: 0/1 successful episodes +[05/26 05:31:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4978 (index 29/42) +[05/26 05:31:00 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4978 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 05:31:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +[2026-05-26 05:33:13,807] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:34:19 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:37:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 4978 episode 0 object objaspraypaintcan_0adc4e0dd1344d91a71a1597933db68e_1_0_2 completed with success=False +[05/26 05:37:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +[2026-05-26 05:39:02,887] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:39:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:43:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 4978 episode 1 object objaspraypaintcan_9e725e49c0074fc0a1a08cacc85ee898_1_0_2 completed with success=False +[05/26 05:43:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4978: 2 episodes +[05/26 05:43:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:43:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:43:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:43:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:43:37 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_4978 +[05/26 05:43:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4978 in 8.35s (batch: 7.94s, save: 0.41s) +[05/26 05:43:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4978 +[05/26 05:43:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4978: 0/2 successful episodes +[05/26 05:43:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5013 (index 30/42) +[05/26 05:43:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5013 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 05:43:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[2026-05-26 05:46:05,206] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:47:12 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:50:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 5013 episode 0 object objagavel_baa1dde4878b41599636183f29692ac7_1_0_2 completed with success=False +[05/26 05:50:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5013: 1 episodes +[05/26 05:50:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:50:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:50:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_5013 +[05/26 05:50:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5013 in 3.57s (batch: 3.45s, save: 0.12s) +[05/26 05:50:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5013 +[05/26 05:50:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5013: 0/1 successful episodes +[05/26 05:50:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5096 (index 31/42) +[05/26 05:50:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5096 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 05:50:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/55 [00:00 does not support tracking retries. +[05/26 05:51:16 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_5 in scene +[05/26 05:51:16 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_9 in scene +[2026-05-26 05:53:12,086] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:54:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:00:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 5096 episode 0 object objaocarina_46450ccd99c6486f8b25e94e1bc8646e_1_0_8 completed with success=False +[05/26 06:01:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5096: 1 episodes +[05/26 06:01:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:01:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:01:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_5096 +[05/26 06:01:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5096 in 2.71s (batch: 2.61s, save: 0.10s) +[05/26 06:01:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5096 +[05/26 06:01:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5096: 0/1 successful episodes +[05/26 06:01:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5160 (index 32/42) +[05/26 06:01:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5160 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 06:01:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/30 [00:00 does not support tracking retries. +[2026-05-26 06:02:17,231] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:02:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:06:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 5160 episode 0 object objasneaker_14ee7c51811d4661aeba588851bafd7c_1_0_5 completed with success=False +[05/26 06:06:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5160: 1 episodes +[05/26 06:06:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:06:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:06:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_5160 +[05/26 06:06:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5160 in 3.73s (batch: 3.59s, save: 0.13s) +[05/26 06:06:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5160 +[05/26 06:06:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5160: 0/1 successful episodes +[05/26 06:06:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5182 (index 33/42) +[05/26 06:06:17 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 5182 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 06:06:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/27 [00:00 does not support tracking retries. +[2026-05-26 06:08:52,768] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:14:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 5182 episode 0 object objaminiaturetower_0780a7e5369442c3967681084a046588_1_0_5 completed with success=False +[05/26 06:14:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/27 [00:00 does not support tracking retries. +[2026-05-26 06:16:41,193] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:18:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:22:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 5182 episode 1 object objamedallion_de9cffc6f2d740bf822965b56e65eb8d_1_0_7 completed with success=False +[05/26 06:22:35 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5182: 2 episodes +[05/26 06:22:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:22:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:22:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:22:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:22:42 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_5182 +[05/26 06:22:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5182 in 6.83s (batch: 6.55s, save: 0.28s) +[05/26 06:22:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5182 +[05/26 06:22:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5182: 0/2 successful episodes +[05/26 06:22:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5197 (index 34/42) +[05/26 06:22:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5197 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 06:22:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/22 [00:00 does not support tracking retries. +[2026-05-26 06:24:31,874] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:25:08 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:27:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 5197 episode 0 object objabowtie_a3f9109d67fe429aa527428dcdac1c6e_1_0_6 completed with success=False +[05/26 06:27:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5197: 1 episodes +[05/26 06:27:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:27:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:27:58 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_5197 +[05/26 06:27:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5197 in 2.70s (batch: 2.60s, save: 0.10s) +[05/26 06:27:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5197 +[05/26 06:27:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5197: 0/1 successful episodes +[05/26 06:27:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5266 (index 35/42) +[05/26 06:27:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5266 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 06:27:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +[2026-05-26 06:29:57,622] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:30:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:33:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 5266 episode 0 object objadeskcalendar_836acbc9b70a457e8619491240f72bbb_1_0_6 completed with success=False +[05/26 06:33:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5266: 1 episodes +[05/26 06:33:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:33:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:33:24 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_5266 +[05/26 06:33:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5266 in 2.54s (batch: 2.44s, save: 0.10s) +[05/26 06:33:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5266 +[05/26 06:33:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5266: 0/1 successful episodes +[05/26 06:33:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5327 (index 36/42) +[05/26 06:33:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5327 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 06:33:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/25 [00:00 does not support tracking retries. +[2026-05-26 06:34:54,421] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:35:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:38:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 5327 episode 0 object objakey_c8d91352967841109fc5b30c604d90e0_1_0_4 completed with success=False +[05/26 06:38:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5327: 1 episodes +[05/26 06:38:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:38:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:38:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_5327 +[05/26 06:38:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5327 in 3.47s (batch: 3.30s, save: 0.18s) +[05/26 06:38:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5327 +[05/26 06:38:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5327: 0/1 successful episodes +[05/26 06:38:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5416 (index 37/42) +[05/26 06:38:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5416 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 06:38:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/47 [00:00 does not support tracking retries. +[2026-05-26 06:40:37,618] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:45:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 5416 episode 0 object objahourglass_e278f37f71ac4e2e980c6ef53899c2d7_1_0_3 completed with success=False +[05/26 06:45:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5416: 1 episodes +[05/26 06:45:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:45:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:45:57 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_5416 +[05/26 06:45:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5416 in 2.44s (batch: 2.35s, save: 0.09s) +[05/26 06:45:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5416 +[05/26 06:45:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5416: 0/1 successful episodes +[05/26 06:45:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5453 (index 38/42) +[05/26 06:45:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5453 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 06:45:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +[05/26 06:46:04 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeplatform_fb3121509a5143ff852c6f8f2d59f37e_1_0_5 in scene +[05/26 06:46:04 Worker 0 WARNING object_manager.py:1238] Could not find object candle_1b82c5d62bcdb9c9e0fbc639fdc9e22a_1_0_5 in scene +[2026-05-26 06:47:06,336] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:47:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:49:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 5453 episode 0 object objacucumber_0aef5e1b2ef446d7a5663674e75d45c8_1_0_2 completed with success=False +[05/26 06:49:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5453: 1 episodes +[05/26 06:49:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:49:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:49:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_5453 +[05/26 06:49:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5453 in 2.51s (batch: 2.40s, save: 0.10s) +[05/26 06:49:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5453 +[05/26 06:49:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5453: 0/1 successful episodes +[05/26 06:49:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5483 (index 39/42) +[05/26 06:49:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5483 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 06:49:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/18 [00:00 does not support tracking retries. +[2026-05-26 06:51:00,804] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:53:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 5483 episode 0 object objamountingbracket_89c52ab7b8f149369c832713bad2203c_1_0_7 completed with success=False +[05/26 06:53:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5483: 1 episodes +[05/26 06:53:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:53:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:53:41 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_5483 +[05/26 06:53:41 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5483 in 2.46s (batch: 2.37s, save: 0.09s) +[05/26 06:53:42 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5483 +[05/26 06:53:42 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5483: 0/1 successful episodes +[05/26 06:53:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5521 (index 40/42) +[05/26 06:53:42 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5521 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 06:53:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/39 [00:00 does not support tracking retries. +[2026-05-26 06:55:04,850] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:55:44 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 07:00:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 5521 episode 0 object objasqueegee_7003b80d192b4515bab588a29bcd86d3_1_0_8 completed with success=False +[05/26 07:01:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5521: 1 episodes +[05/26 07:01:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 07:01:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 07:01:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_5521 +[05/26 07:01:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5521 in 2.41s (batch: 2.28s, save: 0.12s) +[05/26 07:01:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5521 +[05/26 07:01:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5521: 0/1 successful episodes +[05/26 07:01:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5559 (index 41/42) +[05/26 07:01:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5559 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_06 +[05/26 07:01:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[2026-05-26 07:02:32,891] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 07:02:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 07:06:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 5559 episode 0 object objawoodenstake_20e19d2fe4954b2382123e8bbc8df270_1_0_6 completed with success=False +[05/26 07:06:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5559: 1 episodes +[05/26 07:06:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 07:07:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 07:07:00 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010446/house_5559 +[05/26 07:07:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5559 in 2.36s (batch: 2.27s, save: 0.09s) +[05/26 07:07:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5559 +[05/26 07:07:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5559: 0/1 successful episodes +[05/26 07:07:00 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses +[05/26 07:07:01 INFO pipeline.py:1496] Completed 42 houses, skipped 0 houses +[05/26 07:07:01 INFO pipeline.py:1499] Success count: 0, Total count: 47 +[05/26 07:07:01 INFO pipeline.py:1500] Success rate: 0.00% +Combined 47 episodes from 42 files → /tmp/tmphqu8h10n.h5 + +Saved → /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/results.csv at-end: 0.0% | oracle: 0.0% of 47 episodes +[2026-05-26 07:07:05,599] INFO MolmoSpaces simulator eval finished: success=0/47 rate=0.0000 output=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval +[2026-05-26 07:07:05,599] INFO Benchmark CSV: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval/results.csv + +Submission artifacts ready: + CSV : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/submission/results.csv + Bundle zip : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/submission_bundle.zip + Summary : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/submission/summary.json + Full eval output : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/eval + Repro command : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_06/run_command.sh diff --git a/pnp_v2/pnp_v2/submission/shard_07.launcher.log b/pnp_v2/pnp_v2/submission/shard_07.launcher.log new file mode 100644 index 0000000000000000000000000000000000000000..83d7c757e56c723e667d91ab67e86c57d1173de3 --- /dev/null +++ b/pnp_v2/pnp_v2/submission/shard_07.launcher.log @@ -0,0 +1,1655 @@ +================================================================================ +Official MolmoSpaces Submission Run +================================================================================ +Checkpoint : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt +Benchmark dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +Output root : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07 +Eval output dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval +Submission dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/submission +Conda env : molmospace +Policy name : latest +Policy device : cuda:0 +Text embedding device : cpu +Prompt cache dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan +Workers : 1 +Task horizon steps : 450 +Action chunk size : 8 +Obs camera : droid_shoulder_light_randomization +Obs wrist camera : wrist_camera_zed_mini +Camera names : droid_shoulder_light_randomization wrist_camera_zed_mini +Preview camera names : droid_shoulder_light_randomization +End on success : 1 +Visualization : 0 +Save raw videos : 0 +Save video sensors : __none__ +Success condition (CSV) : both + +Official runner : molmo_spaces.evaluation.run_evaluation() +CSV exporter : molmospaces/scripts/benchmarks/eval_to_csv.py + +Command +conda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --use-filament +================================================================================ +[2026-05-26 01:03:53,450] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath'] +[2026-05-26 01:03:53,543] INFO Selected MuJoCo backend: egl +[2026-05-26 01:03:53,567] INFO Using MolmoSpaces benchmark: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 (source=arg) +[2026-05-26 01:03:56,458] INFO No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +[nltk_data] Downloading package wordnet to /home/yuanpei/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /home/yuanpei/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +[2026-05-26 01:04:08,181] INFO ResourceManager (R2RemoteStorage('https://pub-3555e9bb2d304fab9c6c79819e48aa40.r2.dev')) using: + symlink_dir=/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets + cache_dir=/home/yuanpei/.cache/molmo-spaces-resources + force_install=True +/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py:129: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +[2026-05-26 01:04:35,632] INFO Requested MolmoSpaces simulator cameras: ['droid_shoulder_light_randomization', 'wrist_camera_zed_mini'] +[2026-05-26 01:04:35,634] INFO Using save_video_sensors=['__none__'] +[2026-05-26 01:04:39,386] INFO Resolved MolmoSpaces action semantics from checkpoint: source=pnp_next_to_v2 type=molmo_raw arm_action_key=joint_pos_rel gripper_action_key=joint_pos action_type=joint_pos_rel arm_command_mode=joint_rel_position +[2026-05-26 01:04:39,469] INFO Using explicit task_horizon override: 450 steps +[05/26 01:04:39 INFO pipeline.py:677] WandB logging disabled (environment variables not set) +[2026-05-26 01:04:39,520] INFO JsonEvalRunner initialized: 41 houses, 46 episodes from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 01:04:39 INFO pipeline.py:1279] Starting house-by-house rollout of 41 houses with 2 episodes each (82 total episodes) using 1 worker processes +[05/26 01:04:39 INFO pipeline.py:1286] Evaluation configuration: +[05/26 01:04:39 INFO pipeline.py:1287] {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['droid_shoulder_light_randomization', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 'wan_molmobot_franka', + 'obs_camera_name': 'droid_shoulder_light_randomization', + 'obs_image_key': 'rgb_head', + 'obs_state_key': 'robot_state', + 'obs_wrist_camera_name': 'wrist_camera_zed_mini', + 'obs_wrist_image_key': 'rgb_wrist', + 'policy_cls': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [3725, + 3774, + 3775, + 3840, + 3891, + 3944, + 3972, + 4013, + 4061, + 4132, + 4190, + 4223, + 4260, + 4341, + 4372, + 4406, + 4465, + 4532, + 4580, + 4613, + 4640, + 4692, + 4728, + 4764, + 4802, + 4856, + 4909, + 4980, + 4999, + 5019, + 5097, + 5161, + 5208, + 5281, + 5283, + 5340, + 5417, + 5454, + 5488, + 5535, + 5561], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': True, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} +[2026-05-26 01:04:39,531] INFO Saved experiment configuration to /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439 +[05/26 01:04:39 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler +[05/26 01:04:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/26 01:04:39 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler +[05/26 01:04:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3725 (index 0/41) +[05/26 01:04:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3725 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 01:04:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes + Checking objects/objaverse: 0%| | 0/25 [00:00 does not support tracking retries. +2026-05-26 01:06:05.683 | INFO | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0 +[2026-05-26 01:06:41,352] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k) +[2026-05-26 01:06:41,922] INFO [timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k] Safe alternative available for 'pytorch_model.bin' (as 'model.safetensors'). Loading weights using safetensors. +[2026-05-26 01:08:51,125] INFO Number of parameters in DiT: 1.821428e+07 +[2026-05-26 01:09:04,847] INFO Loaded generic psi-policy checkpoint | target=psi_policy.policy.psi_policy.PsiPolicy | obs_keys=['rgb_head', 'rgb_wrist', 'robot_state', 'text_context'] | action_horizon=16 | action_dim=8 +[2026-05-26 01:09:04,851] INFO Loaded MolmoSpaces policy | checkpoint=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt | target=psi_policy.policy.psi_policy.PsiPolicy | device=cuda:0 | action_chunk_size=8 +[05/26 01:09:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:17:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 3725 episode 0 object objapopsicle_ea06ce6c179a4676a1e9329f3b7ee127_2_0_6 completed with success=False +[05/26 01:17:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3725: 1 episodes +[05/26 01:17:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:17:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:17:51 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_3725 +[05/26 01:17:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3725 in 3.38s (batch: 3.18s, save: 0.20s) +[05/26 01:17:52 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3725 +[05/26 01:17:52 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3725: 0/1 successful episodes +[05/26 01:17:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3774 (index 1/41) +[05/26 01:17:52 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3774 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 01:17:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/14 [00:00 does not support tracking retries. +[05/26 01:22:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 01:25:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 3774 episode 0 object objaicecreambar_50eb315890824abaaeb656e22be89710_1_0_2 completed with success=False +[05/26 01:25:04 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3774: 1 episodes +[05/26 01:25:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:25:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:25:06 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_3774 +[05/26 01:25:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3774 in 2.28s (batch: 2.19s, save: 0.09s) +[05/26 01:25:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3774 +[05/26 01:25:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3774: 0/1 successful episodes +[05/26 01:25:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3775 (index 2/41) +[05/26 01:25:06 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 3775 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 01:25:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/39 [00:00 does not support tracking retries. +[2026-05-26 01:35:11,252] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/huggingface_hub/file_download.py:945: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`. + warnings.warn( +[05/26 01:39:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 3775 episode 0 object objapaymentterminal_3e1e65fa70574e4b92cc37120ec03816_1_0_3 completed with success=False +[05/26 01:39:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/39 [00:00 does not support tracking retries. +[2026-05-26 01:42:58,779] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 01:46:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 3775 episode 1 object objamedallion_de9cffc6f2d740bf822965b56e65eb8d_1_0_4 completed with success=False +[05/26 01:46:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3775: 2 episodes +[05/26 01:46:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:46:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 01:46:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:46:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 01:46:33 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_3775 +[05/26 01:46:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3775 in 4.39s (batch: 4.22s, save: 0.17s) +[05/26 01:46:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3775 +[05/26 01:46:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3775: 0/2 successful episodes +[05/26 01:46:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3840 (index 3/41) +[05/26 01:46:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3840 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 01:46:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/16 [00:00 does not support tracking retries. +[05/26 01:55:32 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_98ad81f9aaa74fe0c8d1de65acb880ca_1_0_3 in scene +[2026-05-26 01:56:36,677] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 01:57:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:00:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 3840 episode 0 object objaathleticshoe_66486970c49f498aa3d3a17f771c63bf_1_0_3 completed with success=False +[05/26 02:00:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3840: 1 episodes +[05/26 02:00:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:00:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:00:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_3840 +[05/26 02:00:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3840 in 3.22s (batch: 2.94s, save: 0.28s) +[05/26 02:00:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3840 +[05/26 02:00:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3840: 0/1 successful episodes +[05/26 02:00:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3891 (index 4/41) +[05/26 02:00:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3891 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 02:00:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +[05/26 02:00:29 Worker 0 WARNING object_manager.py:1238] Could not find object objaband_eca69b5af4c44fb0bf968b343efad030_1_0_5 in scene +[05/26 02:00:29 Worker 0 WARNING object_manager.py:1238] Could not find object objatoiletpaper_e79b5660d8c2406d804485257eae6c23_1_0_5 in scene +[05/26 02:00:29 Worker 0 WARNING object_manager.py:1238] Could not find object objadentures_46145e0221e94a3185b215c07d0f4340_1_0_5 in scene +[2026-05-26 02:02:48,772] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:04:10 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:09:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 3891 episode 0 object objafoodpacket_58ff4a1e3fb24fbca6989f9b6d1fe23e_2_0_2 completed with success=False +[05/26 02:09:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3891: 1 episodes +[05/26 02:09:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:09:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:09:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_3891 +[05/26 02:09:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3891 in 4.09s (batch: 3.82s, save: 0.27s) +[05/26 02:09:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3891 +[05/26 02:09:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3891: 0/1 successful episodes +[05/26 02:09:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3944 (index 5/41) +[05/26 02:09:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3944 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 02:09:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/56 [00:00 does not support tracking retries. +[05/26 02:10:08 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene +[2026-05-26 02:12:08,558] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:13:14 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:22:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 3944 episode 0 object objasmokegrenade_d8e89a86fa0c4630b3705222e17cd901_1_0_4 completed with success=False +[05/26 02:22:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3944: 1 episodes +[05/26 02:22:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:22:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:22:15 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_3944 +[05/26 02:22:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3944 in 3.43s (batch: 3.27s, save: 0.16s) +[05/26 02:22:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3944 +[05/26 02:22:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3944: 0/1 successful episodes +[05/26 02:22:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3972 (index 6/41) +[05/26 02:22:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3972 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 02:22:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +[05/26 02:22:26 Worker 0 WARNING object_manager.py:1238] Could not find object vase_d568e4c5c2948c69c05d527517276b06_1_0_2 in scene +[2026-05-26 02:24:24,101] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:31:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 3972 episode 0 object objaelectronicdisplaymodule_37d29ad966cc4f58b81754088e774bd7_1_0_2 completed with success=False +[05/26 02:31:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3972: 1 episodes +[05/26 02:31:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:31:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:31:12 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_3972 +[05/26 02:31:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3972 in 2.93s (batch: 2.82s, save: 0.12s) +[05/26 02:31:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3972 +[05/26 02:31:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3972: 0/1 successful episodes +[05/26 02:31:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4013 (index 7/41) +[05/26 02:31:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4013 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 02:31:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/43 [00:00 does not support tracking retries. +[05/26 02:31:31 Worker 0 WARNING object_manager.py:1238] Could not find object objasportsshoe_6b4506025d2e4c38bf943c377e53a82b_1_0_5 in scene +[05/26 02:31:31 Worker 0 WARNING object_manager.py:1238] Could not find object objaguitareffectspedal_8c6e5265f19b49709119c2628c2bdf3f_1_0_5 in scene +[05/26 02:31:31 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeemblem_fc3742fa990943c29401e60aaf476c81_2_0_7 in scene +[2026-05-26 02:32:42,131] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:39:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 4013 episode 0 object objadecorativefixture_03b5e7bf16d14cae92c993152044446f_1_0_6 completed with success=False +[05/26 02:39:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4013: 1 episodes +[05/26 02:39:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:39:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:39:12 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4013 +[05/26 02:39:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4013 in 3.28s (batch: 3.14s, save: 0.14s) +[05/26 02:39:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4013 +[05/26 02:39:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4013: 0/1 successful episodes +[05/26 02:39:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4061 (index 8/41) +[05/26 02:39:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4061 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 02:39:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/4 [00:00 does not support tracking retries. +[2026-05-26 02:41:38,791] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:43:33 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:47:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 4061 episode 0 object objadecorativeblades_49da7278b073450686dec40d5d61f8ef_1_0_2 completed with success=False +[05/26 02:47:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4061: 1 episodes +[05/26 02:47:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:47:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:47:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4061 +[05/26 02:47:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4061 in 4.28s (batch: 4.07s, save: 0.21s) +[05/26 02:47:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4061 +[05/26 02:47:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4061: 0/1 successful episodes +[05/26 02:47:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4132 (index 9/41) +[05/26 02:47:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4132 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 02:47:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/35 [00:00 does not support tracking retries. +[2026-05-26 02:49:22,473] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:50:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 02:54:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 4132 episode 0 object objadecorativedish_6a575ec757024924b9844d85f3afaa1e_1_0_8 completed with success=False +[05/26 02:54:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4132: 1 episodes +[05/26 02:54:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 02:55:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 02:55:03 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4132 +[05/26 02:55:03 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4132 in 4.17s (batch: 3.94s, save: 0.23s) +[05/26 02:55:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4132 +[05/26 02:55:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4132: 0/1 successful episodes +[05/26 02:55:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4190 (index 10/41) +[05/26 02:55:04 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4190 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 02:55:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +[2026-05-26 02:57:53,434] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 02:59:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:07:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 4190 episode 0 object objadecorativebutterfly_a6073d8c8b454928bad247c294a57416_1_0_2 completed with success=False +[05/26 03:07:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4190: 1 episodes +[05/26 03:07:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:07:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:07:41 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4190 +[05/26 03:07:41 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4190 in 3.99s (batch: 3.82s, save: 0.17s) +[05/26 03:07:42 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4190 +[05/26 03:07:42 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4190: 0/1 successful episodes +[05/26 03:07:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4223 (index 11/41) +[05/26 03:07:42 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4223 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 03:07:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +[05/26 03:07:50 Worker 0 WARNING object_manager.py:1238] Could not find object candle_fe12fa900f50b1f2dcab659cebcf492b_1_0_5 in scene +[2026-05-26 03:10:15,616] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:16:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 4223 episode 0 object objadrillbit_977b1e30dac346c09e5ba28fe3b19fd3_1_0_6 completed with success=False +[05/26 03:16:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/29 [00:00 does not support tracking retries. +[05/26 03:16:07 Worker 0 WARNING object_manager.py:1238] Could not find object candle_fe12fa900f50b1f2dcab659cebcf492b_1_0_5 in scene +[2026-05-26 03:17:56,314] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:19:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:23:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 4223 episode 1 object objaelectricalsocket_7c05b98d60884e12aa05ae00feda5bbe_1_0_6 completed with success=False +[05/26 03:23:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4223: 2 episodes +[05/26 03:23:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:23:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:23:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:23:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:23:12 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4223 +[05/26 03:23:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4223 in 4.83s (batch: 4.65s, save: 0.18s) +[05/26 03:23:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4223 +[05/26 03:23:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4223: 0/2 successful episodes +[05/26 03:23:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4260 (index 12/41) +[05/26 03:23:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4260 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 03:23:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/50 [00:00 does not support tracking retries. +[05/26 03:23:27 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativewallsign_972753f8916f4faeb31cd3beabc0f873_2_0_2 in scene +[05/26 03:23:27 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativestrip_cd800e23d29843c3a02601b0ea022c4d_1_0_2 in scene +[2026-05-26 03:24:37,718] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:25:14 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:30:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 4260 episode 0 object objastopwatch_ab795908c0874284a01556b71ac8f34a_1_0_5 completed with success=False +[05/26 03:30:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4260: 1 episodes +[05/26 03:30:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:30:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:30:29 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4260 +[05/26 03:30:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4260 in 3.85s (batch: 3.68s, save: 0.17s) +[05/26 03:30:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4260 +[05/26 03:30:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4260: 0/1 successful episodes +[05/26 03:30:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4341 (index 13/41) +[05/26 03:30:29 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4341 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 03:30:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/17 [00:00 does not support tracking retries. +[2026-05-26 03:32:42,909] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:34:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:38:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 4341 episode 0 object objapopsicle_ea06ce6c179a4676a1e9329f3b7ee127_2_0_6 completed with success=False +[05/26 03:38:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4341: 1 episodes +[05/26 03:38:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:38:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:38:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4341 +[05/26 03:38:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4341 in 4.84s (batch: 4.70s, save: 0.14s) +[05/26 03:38:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4341 +[05/26 03:38:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4341: 0/1 successful episodes +[05/26 03:38:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4372 (index 14/41) +[05/26 03:38:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4372 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 03:38:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/41 [00:00 does not support tracking retries. +[05/26 03:38:52 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativesymbol_901e291f621540ab85bf50d5b6fc25de_1_0_5 in scene +[05/26 03:38:52 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_106cc065bd80d8fb1bc55c4321a47876_1_0_5 in scene +[2026-05-26 03:41:01,330] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:41:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:44:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 4372 episode 0 object apple_3076d24521ee5e895156b37b1b9fb130_1_0_8 completed with success=False +[05/26 03:44:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4372: 1 episodes +[05/26 03:44:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:45:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:45:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4372 +[05/26 03:45:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4372 in 2.76s (batch: 2.61s, save: 0.14s) +[05/26 03:45:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4372 +[05/26 03:45:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4372: 0/1 successful episodes +[05/26 03:45:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4406 (index 15/41) +[05/26 03:45:03 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4406 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 03:45:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[2026-05-26 03:46:37,849] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:47:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:53:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 4406 episode 0 object objaprintedcircuitboard_dd07a5351c854a02bb6def55164023dd_1_0_3 completed with success=False +[05/26 03:53:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4406: 1 episodes +[05/26 03:53:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 03:53:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 03:53:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4406 +[05/26 03:53:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4406 in 3.68s (batch: 3.50s, save: 0.19s) +[05/26 03:53:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4406 +[05/26 03:53:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4406: 0/1 successful episodes +[05/26 03:53:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4465 (index 16/41) +[05/26 03:53:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4465 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 03:53:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/37 [00:00 does not support tracking retries. +[05/26 03:53:51 Worker 0 WARNING object_manager.py:1238] Could not find object objaclog_4622e88fd9264b37997671efeb73af85_1_0_5 in scene +[05/26 03:53:51 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativetile_7584f83361f546ed890ae9aa823df1cb_1_0_5 in scene +[05/26 03:53:51 Worker 0 WARNING object_manager.py:1238] Could not find object objacollar_5f329a75ab1a4890868ba37061ca3396_1_0_5 in scene +[2026-05-26 03:55:38,561] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 03:56:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 03:59:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 4465 episode 0 object objamedicinebox_062a5843f2214b5ebf9c90273f803e16_1_0_6 completed with success=False +[05/26 04:00:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4465: 1 episodes +[05/26 04:00:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:00:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:00:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4465 +[05/26 04:00:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4465 in 3.22s (batch: 3.05s, save: 0.18s) +[05/26 04:00:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4465 +[05/26 04:00:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4465: 0/1 successful episodes +[05/26 04:00:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4532 (index 17/41) +[05/26 04:00:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4532 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 04:00:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/9 [00:00 does not support tracking retries. +[2026-05-26 04:02:13,139] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:03:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:06:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 4532 episode 0 object objaartifact_787b8c3a105a484681d6f6258099cca5_1_0_2 completed with success=False +[05/26 04:06:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4532: 1 episodes +[05/26 04:06:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:06:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:06:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4532 +[05/26 04:06:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4532 in 2.78s (batch: 2.68s, save: 0.10s) +[05/26 04:06:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4532 +[05/26 04:06:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4532: 0/1 successful episodes +[05/26 04:06:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4580 (index 18/41) +[05/26 04:06:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4580 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 04:06:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/40 [00:00 does not support tracking retries. +[05/26 04:06:56 Worker 0 WARNING object_manager.py:1238] Could not find object objareplicatooth_c7bf1c4c76f74da4bbc1620e1173e189_1_0_5 in scene +[05/26 04:06:56 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_c60254aae031ecd4e316a5add61459a4_1_0_5 in scene +[05/26 04:06:56 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_7 in scene +[05/26 04:06:56 Worker 0 WARNING object_manager.py:1238] Could not find object objavintagemobilephone_e1a072af323f4d358bad054195353b96_1_0_8 in scene +[05/26 04:06:56 Worker 0 WARNING object_manager.py:1238] Could not find object soapdispenser_116f2e48d98aa5352b25743c587e8255_1_0_8 in scene +[2026-05-26 04:08:16,003] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:08:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:17:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 4580 episode 0 object objafiredepartmentconnection_b4946020065141e5b994e0ca5ed23882_1_0_8 completed with success=False +[05/26 04:18:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4580: 1 episodes +[05/26 04:18:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:18:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:18:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4580 +[05/26 04:18:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4580 in 3.64s (batch: 3.48s, save: 0.16s) +[05/26 04:18:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4580 +[05/26 04:18:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4580: 0/1 successful episodes +[05/26 04:18:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4613 (index 19/41) +[05/26 04:18:06 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4613 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 04:18:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[2026-05-26 04:20:43,442] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:25:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 4613 episode 0 object objacollar_5f329a75ab1a4890868ba37061ca3396_1_0_7 completed with success=False +[05/26 04:25:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/48 [00:00 does not support tracking retries. +[2026-05-26 04:27:12,394] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:28:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:32:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 4613 episode 1 object objamarker_be34b3e0b8e44511b6c3bccb76a472d2_1_0_5 completed with success=False +[05/26 04:32:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4613: 2 episodes +[05/26 04:32:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:32:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:32:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:32:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:32:26 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4613 +[05/26 04:32:26 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4613 in 6.48s (batch: 6.19s, save: 0.29s) +[05/26 04:32:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4613 +[05/26 04:32:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4613: 0/2 successful episodes +[05/26 04:32:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4640 (index 20/41) +[05/26 04:32:27 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4640 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 04:32:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/7 [00:00 does not support tracking retries. +[2026-05-26 04:34:17,334] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:34:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:36:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 4640 episode 0 object objagrenade_2bf43075c62749e28e1a8c2f0d766c67_1_0_2 completed with success=False +[05/26 04:36:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4640: 1 episodes +[05/26 04:36:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:36:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:36:45 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4640 +[05/26 04:36:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4640 in 3.21s (batch: 3.09s, save: 0.12s) +[05/26 04:36:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4640 +[05/26 04:36:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4640: 0/1 successful episodes +[05/26 04:36:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4692 (index 21/41) +[05/26 04:36:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4692 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 04:36:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/15 [00:00 does not support tracking retries. +[2026-05-26 04:38:02,716] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:38:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 04:40:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 4692 episode 0 object soapdispenser_e2340594c344cded466620d23f003e8a_1_0_2 completed with success=False +[05/26 04:40:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4692: 1 episodes +[05/26 04:40:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:40:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:40:25 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4692 +[05/26 04:40:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4692 in 2.71s (batch: 2.61s, save: 0.09s) +[05/26 04:40:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4692 +[05/26 04:40:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4692: 0/1 successful episodes +[05/26 04:40:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4728 (index 22/41) +[05/26 04:40:26 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4728 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 04:40:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/60 [00:00 does not support tracking retries. +[05/26 04:40:46 Worker 0 WARNING object_manager.py:1238] Could not find object objamultitool_8e4f71b51ecc41488c0bd05491217797_1_0_2 in scene +[05/26 04:40:46 Worker 0 WARNING object_manager.py:1238] Could not find object Irishpotato_19394b332cf16c9d218c9f434ecf9c48_1_0_2 in scene +[05/26 04:40:46 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +[2026-05-26 04:42:19,407] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:49:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 4728 episode 0 object objavintageiron_187871edbc5e40d8a75a4b654ce32146_1_0_2 completed with success=False +[05/26 04:49:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4728: 1 episodes +[05/26 04:49:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:49:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:49:47 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4728 +[05/26 04:49:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4728 in 2.81s (batch: 2.68s, save: 0.13s) +[05/26 04:49:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4728 +[05/26 04:49:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4728: 0/1 successful episodes +[05/26 04:49:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4764 (index 23/41) +[05/26 04:49:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4764 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 04:49:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/6 [00:00 does not support tracking retries. +[2026-05-26 04:51:35,357] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:54:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 4764 episode 0 object objasculptingtool_f7f0c3b473e049aa84d9251793113418_1_0_2 completed with success=False +[05/26 04:55:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4764: 1 episodes +[05/26 04:55:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 04:55:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 04:55:03 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4764 +[05/26 04:55:03 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4764 in 2.19s (batch: 2.10s, save: 0.09s) +[05/26 04:55:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4764 +[05/26 04:55:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4764: 0/1 successful episodes +[05/26 04:55:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4802 (index 24/41) +[05/26 04:55:04 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4802 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 04:55:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/24 [00:00 does not support tracking retries. +[2026-05-26 04:56:42,328] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 04:57:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:01:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 4802 episode 0 object objaceramicbirdfigure_182ce75662ca4a98bc00e54a43dfef4e_1_0_6 completed with success=False +[05/26 05:02:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4802: 1 episodes +[05/26 05:02:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:02:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:02:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4802 +[05/26 05:02:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4802 in 2.67s (batch: 2.51s, save: 0.16s) +[05/26 05:02:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4802 +[05/26 05:02:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4802: 0/1 successful episodes +[05/26 05:02:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4856 (index 25/41) +[05/26 05:02:04 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4856 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 05:02:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/49 [00:00 does not support tracking retries. +[2026-05-26 05:04:02,608] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:05:03 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:14:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 4856 episode 0 object objadecorativearrow_bdc5664a76f74806b5ae78dd7793fbef_1_0_6 completed with success=False +[05/26 05:14:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4856: 1 episodes +[05/26 05:14:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:14:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:14:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4856 +[05/26 05:14:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4856 in 4.01s (batch: 3.80s, save: 0.21s) +[05/26 05:14:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4856 +[05/26 05:14:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4856: 0/1 successful episodes +[05/26 05:14:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4909 (index 26/41) +[05/26 05:14:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4909 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 05:14:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/36 [00:00 does not support tracking retries. +[2026-05-26 05:16:40,931] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:17:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:21:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 4909 episode 0 object objapopsicle_d6caf34a19354df890e60be6786de20c_1_0_8 completed with success=False +[05/26 05:21:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4909: 1 episodes +[05/26 05:21:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:21:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:21:26 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4909 +[05/26 05:21:26 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4909 in 2.65s (batch: 2.52s, save: 0.13s) +[05/26 05:21:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4909 +[05/26 05:21:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4909: 0/1 successful episodes +[05/26 05:21:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4980 (index 27/41) +[05/26 05:21:26 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 4980 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 05:21:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/38 [00:00 does not support tracking retries. +[2026-05-26 05:23:12,592] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:24:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:30:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 4980 episode 0 object objacard_ed4f37ab0ac84610bace2bbecabcef4c_1_0_2 completed with success=False +[05/26 05:30:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4980: 1 episodes +[05/26 05:30:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:30:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:30:24 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4980 +[05/26 05:30:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4980 in 3.34s (batch: 3.21s, save: 0.13s) +[05/26 05:30:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4980 +[05/26 05:30:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4980: 0/1 successful episodes +[05/26 05:30:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4999 (index 28/41) +[05/26 05:30:24 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4999 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 05:30:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/26 05:30:44 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativepanel_a17676f45b3d483c9dc1910a2eb17269_1_0_8 in scene +[05/26 05:30:44 Worker 0 WARNING object_manager.py:1238] Could not find object objadressshoe_08158fa3333a4b288bd2746a6ba6f9e5_1_0_9 in scene +[05/26 05:30:44 Worker 0 WARNING object_manager.py:1238] Could not find object objamarbleslab_7d540d7b25af4e41a58eaeb5037f88a9_1_0_9 in scene +[2026-05-26 05:32:48,163] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:38:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 4999 episode 0 object objahandbell_2ad2c9631a83455c9ec767a404d018df_1_0_3 completed with success=False +[05/26 05:38:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/57 [00:00 does not support tracking retries. +[05/26 05:38:17 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativepanel_a17676f45b3d483c9dc1910a2eb17269_1_0_8 in scene +[05/26 05:38:17 Worker 0 WARNING object_manager.py:1238] Could not find object objadressshoe_08158fa3333a4b288bd2746a6ba6f9e5_1_0_9 in scene +[05/26 05:38:17 Worker 0 WARNING object_manager.py:1238] Could not find object objamarbleslab_7d540d7b25af4e41a58eaeb5037f88a9_1_0_9 in scene +[2026-05-26 05:39:49,112] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:45:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 4999 episode 1 object objaadjustablewrench_ae5c3481f14d4683a319667717d65352_1_0_3 completed with success=False +[05/26 05:45:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4999: 2 episodes +[05/26 05:45:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:45:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:45:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:45:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:45:19 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_4999 +[05/26 05:45:19 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4999 in 6.57s (batch: 6.32s, save: 0.24s) +[05/26 05:45:20 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4999 +[05/26 05:45:20 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4999: 0/2 successful episodes +[05/26 05:45:20 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5019 (index 29/41) +[05/26 05:45:20 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5019 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 05:45:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/32 [00:00 does not support tracking retries. +[2026-05-26 05:47:45,969] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:52:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 5019 episode 0 object objatoygun_b7faa9ff7e214e678e7e5523afdd6356_1_0_4 completed with success=False +[05/26 05:52:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5019: 1 episodes +[05/26 05:52:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:52:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:52:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5019 +[05/26 05:52:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5019 in 3.20s (batch: 3.05s, save: 0.14s) +[05/26 05:52:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5019 +[05/26 05:52:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5019: 0/1 successful episodes +[05/26 05:52:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5097 (index 30/41) +[05/26 05:52:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5097 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 05:52:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/8 [00:00 does not support tracking retries. +[2026-05-26 05:54:51,507] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 05:56:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 05:58:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 5097 episode 0 object objafoodpackage_b33ef62be6564684ac8ba70c41cccc07_1_0_2 completed with success=False +[05/26 05:58:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5097: 1 episodes +[05/26 05:58:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 05:58:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 05:58:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5097 +[05/26 05:58:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5097 in 2.37s (batch: 2.27s, save: 0.10s) +[05/26 05:58:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5097 +[05/26 05:58:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5097: 0/1 successful episodes +[05/26 05:58:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5161 (index 31/41) +[05/26 05:58:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5161 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 05:58:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +[2026-05-26 06:00:37,091] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:01:04 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:03:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 5161 episode 0 object objaemergencyradio_875d6d844ced424bb9eaa5659ef888ac_1_0_6 completed with success=False +[05/26 06:03:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5161: 1 episodes +[05/26 06:03:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:03:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:03:15 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5161 +[05/26 06:03:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5161 in 2.23s (batch: 2.14s, save: 0.09s) +[05/26 06:03:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5161 +[05/26 06:03:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5161: 0/1 successful episodes +[05/26 06:03:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5208 (index 32/41) +[05/26 06:03:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5208 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 06:03:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/27 [00:00 does not support tracking retries. +[05/26 06:03:27 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +[2026-05-26 06:05:28,634] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:11:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 5208 episode 0 object objatelegraphkey_152bc6ed25b14945b6ff62a60f446334_1_0_6 completed with success=False +[05/26 06:11:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5208: 1 episodes +[05/26 06:11:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:11:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:11:45 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5208 +[05/26 06:11:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5208 in 3.54s (batch: 3.34s, save: 0.20s) +[05/26 06:11:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5208 +[05/26 06:11:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5208: 0/1 successful episodes +[05/26 06:11:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5281 (index 33/41) +[05/26 06:11:46 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 5281 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 06:11:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +[2026-05-26 06:14:02,361] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:17:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 5281 episode 0 object objaceramicmug_a194e0482994495983f6e46559a76600_1_0_2 completed with success=False +[05/26 06:18:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/23 [00:00 does not support tracking retries. +[2026-05-26 06:20:23,211] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:21:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:24:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 5281 episode 1 object objacostumefigure_0bd37fcf74214be0b2e0b8d1b4105aea_1_0_6 completed with success=False +[05/26 06:24:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5281: 2 episodes +[05/26 06:24:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:24:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:24:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:24:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:24:28 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5281 +[05/26 06:24:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5281 in 5.14s (batch: 4.90s, save: 0.24s) +[05/26 06:24:28 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5281 +[05/26 06:24:28 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5281: 0/2 successful episodes +[05/26 06:24:28 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5283 (index 34/41) +[05/26 06:24:28 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5283 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 06:24:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/31 [00:00 does not support tracking retries. +[2026-05-26 06:25:54,437] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:26:13 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:29:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 5283 episode 0 object objajuicer_d5d126549f254e21bfc1200eac7a38f1_1_0_6 completed with success=False +[05/26 06:29:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5283: 1 episodes +[05/26 06:29:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:29:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:29:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5283 +[05/26 06:29:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5283 in 3.19s (batch: 3.04s, save: 0.15s) +[05/26 06:29:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5283 +[05/26 06:29:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5283: 0/1 successful episodes +[05/26 06:29:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5340 (index 35/41) +[05/26 06:29:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5340 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 06:29:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/53 [00:00 does not support tracking retries. +[05/26 06:29:58 Worker 0 WARNING object_manager.py:1238] Could not find object objabookmark_3a40ec29515c4ac0ba393b1830ad39fc_1_0_3 in scene +[2026-05-26 06:31:46,463] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:32:20 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:35:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 5340 episode 0 object objaocarina_dedd2ab83a78404085dd2168d511d9b0_1_0_4 completed with success=False +[05/26 06:35:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5340: 1 episodes +[05/26 06:35:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:35:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:35:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5340 +[05/26 06:35:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5340 in 2.34s (batch: 2.23s, save: 0.11s) +[05/26 06:35:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5340 +[05/26 06:35:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5340: 0/1 successful episodes +[05/26 06:35:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5417 (index 36/41) +[05/26 06:35:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5417 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 06:35:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/66 [00:00 does not support tracking retries. +[05/26 06:35:40 Worker 0 WARNING object_manager.py:1238] Could not find object objafoil_67f6e895f5f34572afc152008228d819_1_0_9 in scene +[05/26 06:35:40 Worker 0 WARNING object_manager.py:1238] Could not find object objadentures_46145e0221e94a3185b215c07d0f4340_1_0_9 in scene +[2026-05-26 06:37:30,466] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:44:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 5417 episode 0 object objaclimbingshoe_6612b1e3ee2b4e08952f6bf2b26bd75a_1_0_5 completed with success=False +[05/26 06:44:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5417: 1 episodes +[05/26 06:44:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:44:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:44:06 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5417 +[05/26 06:44:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5417 in 2.71s (batch: 2.62s, save: 0.09s) +[05/26 06:44:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5417 +[05/26 06:44:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5417: 0/1 successful episodes +[05/26 06:44:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5454 (index 37/41) +[05/26 06:44:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5454 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 06:44:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/52 [00:00 does not support tracking retries. +[05/26 06:44:12 Worker 0 WARNING object_manager.py:1238] Could not find object objastopwatch_9bed8516b3264d0fa505609c1d19ccf0_1_0_5 in scene +[2026-05-26 06:45:29,016] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:45:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 06:48:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 5454 episode 0 object objasmartphone_a277fe5b13614659bab459f0df3adf8d_1_0_6 completed with success=False +[05/26 06:48:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5454: 1 episodes +[05/26 06:48:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:48:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:48:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5454 +[05/26 06:48:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5454 in 2.16s (batch: 2.07s, save: 0.09s) +[05/26 06:48:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5454 +[05/26 06:48:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5454: 0/1 successful episodes +[05/26 06:48:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5488 (index 38/41) +[05/26 06:48:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5488 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 06:48:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/21 [00:00 does not support tracking retries. +[2026-05-26 06:49:41,466] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:53:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 5488 episode 0 object objatoyrifle_c085a04dae664cfe958c22fde3a18283_1_0_6 completed with success=False +[05/26 06:53:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5488: 1 episodes +[05/26 06:53:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 06:53:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 06:53:26 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5488 +[05/26 06:53:26 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5488 in 2.57s (batch: 2.48s, save: 0.09s) +[05/26 06:53:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5488 +[05/26 06:53:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5488: 0/1 successful episodes +[05/26 06:53:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5535 (index 39/41) +[05/26 06:53:27 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5535 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 06:53:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/14 [00:00 does not support tracking retries. +[2026-05-26 06:54:33,184] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 06:54:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera_zed_mini' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/26 07:02:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 5535 episode 0 object objasandal_236d43744d2e42db923b0dbd7ee0e911_1_0_3 completed with success=False +[05/26 07:02:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5535: 1 episodes +[05/26 07:02:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 07:02:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 07:02:54 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5535 +[05/26 07:02:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5535 in 2.73s (batch: 2.64s, save: 0.09s) +[05/26 07:02:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5535 +[05/26 07:02:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5535: 0/1 successful episodes +[05/26 07:02:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5561 (index 40/41) +[05/26 07:02:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5561 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/benchmark_shards/shard_07 +[05/26 07:02:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} + Checking objects/objaverse: 0%| | 0/60 [00:00 does not support tracking retries. +[05/26 07:03:06 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_1_0_5 in scene +[05/26 07:03:06 Worker 0 WARNING object_manager.py:1238] Could not find object objaceilingtile_87bb73dea4a341e5b5ead7543881f47d_2_0_9 in scene +[05/26 07:03:06 Worker 0 WARNING object_manager.py:1238] Could not find object objanecklace_44783028272144c5abe0652d6be37b20_1_0_9 in scene +[05/26 07:03:06 Worker 0 WARNING object_manager.py:1238] Could not find object objadecorativeband_26be4c662c434a66b9e15d66eb4130d8_1_0_9 in scene +[05/26 07:03:06 Worker 0 WARNING object_manager.py:1238] Could not find object atomizer_98ad81f9aaa74fe0c8d1de65acb880ca_1_0_9 in scene +[2026-05-26 07:04:28,527] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +[05/26 07:07:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 5561 episode 0 object objaspraypaintcan_9e725e49c0074fc0a1a08cacc85ee898_2_0_8 completed with success=False +[05/26 07:07:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5561: 1 episodes +[05/26 07:07:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/26 07:07:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/26 07:07:27 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439/house_5561 +[05/26 07:07:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5561 in 2.51s (batch: 2.42s, save: 0.09s) +[05/26 07:07:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5561 +[05/26 07:07:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5561: 0/1 successful episodes +[05/26 07:07:27 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses +[05/26 07:07:28 INFO pipeline.py:1496] Completed 41 houses, skipped 0 houses +[05/26 07:07:28 INFO pipeline.py:1499] Success count: 0, Total count: 46 +[05/26 07:07:28 INFO pipeline.py:1500] Success rate: 0.00% +Combined 46 episodes from 41 files → /tmp/tmpt4yxz8_w.h5 + +Saved → /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/results.csv at-end: 0.0% | oracle: 0.0% of 46 episodes +[2026-05-26 07:07:32,552] INFO MolmoSpaces simulator eval finished: success=0/46 rate=0.0000 output=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval +[2026-05-26 07:07:32,552] INFO Benchmark CSV: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/results.csv + +Submission artifacts ready: + CSV : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/submission/results.csv + Bundle zip : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/submission_bundle.zip + Summary : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/submission/summary.json + Full eval output : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval + Repro command : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/run_command.sh diff --git a/pnp_v2/pnp_v2/submission/submission_manifest.json b/pnp_v2/pnp_v2/submission/submission_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..755f3c11be13b708c3757ab02dcf42d4a0644a06 --- /dev/null +++ b/pnp_v2/pnp_v2/submission/submission_manifest.json @@ -0,0 +1,22 @@ +{ + "task_name": "pnp_v2", + "policy_name": "latest", + "checkpoint_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt", + "benchmark_dir": "/home/yuanpei/.cache/molmo-spaces-resources/benchmarks/molmospaces-bench-v2/20260327/procthor-objaverse/FrankaPickandPlaceHardBench/FrankaPickandPlaceHardBench_20260206_json_benchmark", + "benchmark_basename": "FrankaPickandPlaceHardBench_20260206_json_benchmark", + "gpus": [ + "0", + "1", + "2", + "3", + "4", + "5", + "6", + "7" + ], + "results_csv": "results.csv", + "benchmark_named_csv": "FrankaPickandPlaceHardBench_20260206_json_benchmark_results.csv", + "summary_json": "summary.json", + "episode_results_jsonl": "episode_results.jsonl", + "shard_root": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards" +} diff --git 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"/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260526_010439" + } + ], + "results_csv": "results.csv", + "benchmark_named_csv": "FrankaPickandPlaceHardBench_20260206_json_benchmark_results.csv", + "episode_results_jsonl": "episode_results.jsonl", + "official_csv_overall": { + "policy": "latest", + "category": "OVERALL", + "successes": "26", + "total": "999", + "success_rate_pct": "2.6", + "ci_95_low_pct": "1.79", + "ci_95_high_pct": "3.79", + "oracle_successes": "26", + "oracle_rate_pct": "2.6", + "oracle_ci_95_low_pct": "1.79", + "oracle_ci_95_high_pct": "3.79", + "jerk_joint_mean": "44.471467", + "jerk_joint_std": "28.552263" + }, + "raw_episode_results_success_count": 4, + "raw_episode_results_oracle_done_count": 4 +} diff --git a/pnp_v2/submission/pnp_v2_results.csv b/pnp_v2/submission/pnp_v2_results.csv new file mode 100644 index 0000000000000000000000000000000000000000..e608ebe8c4038de97615707789a1267dcf13c4f7 --- /dev/null +++ b/pnp_v2/submission/pnp_v2_results.csv @@ -0,0 +1,512 @@ +# policy_name: latest +# run_path: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2/pnp_v2/shards +# dt: 0.066 +# max_steps: 450 +policy,category,successes,total,success_rate_pct,ci_95_low_pct,ci_95_high_pct,oracle_successes,oracle_rate_pct,oracle_ci_95_low_pct,oracle_ci_95_high_pct,jerk_joint_mean,jerk_joint_std +latest,Alarmclock,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,35.032317,13.245977 +latest,Bowl,0,4,0.0,0.51,52.18,0,0.0,0.51,52.18,59.598142,17.748836 +latest,Candle,0,4,0.0,0.51,52.18,0,0.0,0.51,52.18,62.424474,56.071591 +latest,Cellulartelephone,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,22.138911,8.61718 +latest,Cup,1,5,20.0,4.33,64.12,1,20.0,4.33,64.12,44.531214,23.565174 +latest,Egg,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,52.97567,43.002684 +latest,Fruit,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,66.894558,32.179663 +latest,Irishpotato,0,7,0.0,0.32,36.94,0,0.0,0.32,36.94,53.037383,19.651943 +latest,Knife,0,5,0.0,0.42,45.93,0,0.0,0.42,45.93,52.98245,24.565544 +latest,Objaactionfigure,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,70.453419,0.0 +latest,Objaadjustablewrench,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,33.428984,15.193533 +latest,Objaaerosolcan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,27.217543,0.0 +latest,Objaairblower,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,26.726599,13.645548 +latest,Objaalarmclock,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,8.205044,0.0 +latest,Objaaluminumextrusionprofile,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,20.481702,0.0 +latest,Objaammunition,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,51.548384,11.011228 +latest,Objaamulet,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,44.384098,8.625718 +latest,Objaanemometer,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,30.7874,0.0 +latest,Objaanimalfigure,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,43.760131,0.0 +latest,Objaantiqueiron,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.477969,0.0 +latest,Objaantiquekey,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,81.551806,0.0 +latest,Objaantiquetool,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,52.470919,15.90015 +latest,Objaarrowhead,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,52.456201,11.950689 +latest,Objaartifact,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,32.358336,25.767987 +latest,Objaartificialflower,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.617001,0.0 +latest,Objaathleticshoe,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,24.009887,13.438475 +latest,Objaaudiorecorder,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,18.331039,0.0 +latest,Objaavocado,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,47.635242,0.0 +latest,Objaawl,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,31.027067,21.191302 +latest,Objabacteriummodel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,27.498667,0.0 +latest,Objabadge,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,44.895591,8.926713 +latest,Objaband,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,52.087425,15.517533 +latest,Objabarcodescanner,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,22.225755,5.826954 +latest,Objabatterypack,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,40.730871,18.063735 +latest,Objabeetle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,151.637038,0.0 +latest,Objabellpepper,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.222843,0.0 +latest,Objabeltbuckle,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,31.890973,13.727692 +latest,Objabeveragecarton,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,75.536618,35.335288 +latest,Objabeveragecontainer,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.14695,0.0 +latest,Objabeveragecup,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.199208,0.0 +latest,Objabird,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.380024,0.0 +latest,Objabirdfigurine,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,32.995019,3.425067 +latest,Objabluetoothspeaker,0,4,0.0,0.51,52.18,0,0.0,0.51,52.18,39.620247,10.379744 +latest,Objabolt,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,60.727668,0.0 +latest,Objabone,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,62.579191,0.0 +latest,Objabottle,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,35.591354,2.909184 +latest,Objabottleopener,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,35.710074,20.349289 +latest,Objabouquet,1,1,100.0,15.81,98.74,1,100.0,15.81,98.74,58.876725,0.0 +latest,Objabowtie,0,4,0.0,0.51,52.18,0,0.0,0.51,52.18,43.318212,30.5641 +latest,Objabrush,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,14.5691,0.0 +latest,Objabullet,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,32.96303,2.782565 +latest,Objabulletcartridge,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,40.189682,4.235144 +latest,Objabutterflyknife,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,30.583907,7.582003 +latest,Objabutton,1,4,25.0,5.27,71.64,1,25.0,5.27,71.64,32.58111,20.847624 +latest,Objacabinethinge,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,25.059858,12.648824 +latest,Objacalculatorradio,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,31.756867,0.0 +latest,Objacamcorder,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,22.615317,12.764419 +latest,Objacamera,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,29.284591,0.897896 +latest,Objacan,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,28.675332,0.0 +latest,Objacandle,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,64.950984,30.522733 +latest,Objacandlestickholder,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,52.003984,0.0 +latest,Objacandywrapper,0,5,0.0,0.42,45.93,0,0.0,0.42,45.93,49.277276,31.505468 +latest,Objacanopener,0,4,0.0,0.51,52.18,0,0.0,0.51,52.18,49.341012,6.285558 +latest,Objacapsule,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.99615,0.0 +latest,Objacard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,80.47785,0.0 +latest,Objacasing,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.252659,0.0 +latest,Objacassetterecorder,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,41.597818,12.385432 +latest,Objaceramicbirdfigure,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,10.547901,0.0 +latest,Objaceramicbowl,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,65.573111,37.980649 +latest,Objaceramiccup,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,31.388969,18.555654 +latest,Objaceramicmug,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.823448,0.0 +latest,Objaceramicsculpture,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,52.373227,0.0 +latest,Objachain,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,72.819787,47.543577 +latest,Objacheese,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,18.993899,6.762684 +latest,Objacheesecake,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,17.582778,0.0 +latest,Objachefsknife,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,30.322755,0.0 +latest,Objachesspiece,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,37.076278,9.427625 +latest,Objachewinggumpackage,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,49.291769,0.0 +latest,Objachisel,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,40.5179,0.0 +latest,Objachocolatebar,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,43.816401,0.0 +latest,Objachocolatebarpackage,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,64.357761,11.673529 +latest,Objachocolatebunny,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,48.868891,13.573788 +latest,Objacigarpackage,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,27.967474,0.0 +latest,Objaclamp,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,33.559071,0.0 +latest,Objaclaydish,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,82.488319,0.0 +latest,Objaclaysample,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,29.902239,11.522261 +latest,Objaclaytablet,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,44.706871,15.952544 +latest,Objacleaningbottle,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,109.948769,0.0 +latest,Objacleaningsponge,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,31.085667,29.095718 +latest,Objaclimbingshoe,0,4,0.0,0.51,52.18,0,0.0,0.51,52.18,56.068025,27.444955 +latest,Objaclothesiron,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,70.316672,26.839747 +latest,Objaclothespin,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,59.766617,0.0 +latest,Objaclub,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,12.155641,0.0 +latest,Objacoilspring,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,29.56728,0.0 +latest,Objacollar,0,9,0.0,0.25,30.85,0,0.0,0.25,30.85,43.143029,20.639609 +latest,Objacollectiblecard,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.880652,0.0 +latest,Objacommunicationdevice,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,14.203249,0.0 +latest,Objacompass,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,41.595025,0.0 +latest,Objacomponent,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,123.477187,0.0 +latest,Objacomputerkeyboard,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,43.500683,19.399146 +latest,Objacomputermouse,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,18.414834,0.0 +latest,Objaconnector,0,3,0.0,0.63,60.24,0,0.0,0.63,60.24,29.206565,4.616876 +latest,Objacookie,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,43.034858,0.0 +latest,Objacorkscrew,0,4,0.0,0.51,52.18,0,0.0,0.51,52.18,66.216345,53.576671 +latest,Objacornermolding,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,11.869113,0.0 +latest,Objacostumefigure,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,102.576357,0.0 +latest,Objacroissant,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,33.29619,22.181033 +latest,Objacrown,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,50.733497,0.0 +latest,Objacucumber,0,2,0.0,0.84,70.76,0,0.0,0.84,70.76,55.784918,13.911464 +latest,Objacupcake,0,1,0.0,1.26,84.19,0,0.0,1.26,84.19,42.739796,0.0 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